Force control of piezoelectric walker

@article{Uzunovic2016ForceCO,
  title={Force control of piezoelectric walker},
  author={Tarik Uzunovic and Edin Golubovic and Asif Sabanoviç},
  journal={IECON 2016 - 42nd Annual Conference of the IEEE Industrial Electronics Society},
  year={2016},
  pages={5790-5795}
}
This paper is concerned with the force control of a walking piezoelectric motor, a commercially available Piezo LEGS motor. The motor is capable of providing high precision positioning control on nanometer scale, but also relatively high forces up to 6 N. The proposed force control algorithm is very simple, but effective, and it is based on a recently presented coordinate transformation. The transformation allows definition of the driving waveforms for the motor according to a desired motion of… CONTINUE READING