SEA force/torque servo control with model-based robust motion control and link-side motion feedback

Abstract

A series elastic actuator (SEA) consists of a system with an intrinsically compliant mechanism, and introduces the possibility of external force/torque sensing and control. However, this mechanism is also known to reduce torque servo-control bandwidth and to separate link-side dynamics from actuator-side dynamics. The conventional solution to overcoming… (More)
DOI: 10.1109/ICRA.2015.7139305

Topics

9 Figures and Tables

Statistics

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Citations per Year

Citation Velocity: 7

Averaging 7 citations per year over the last 3 years.

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