Virtual ground robot for balance control

Abstract

This paper proposes a Virtual Ground Robot (VGR) that can interact with a human. The proposed Virtual Ground Robot creates a virtual ground, which has three-degree-of-freedom motions in the pitch, the roll and the height directions. The VGR are driven by Series Elastics Actuator(SEA), which enable force control without force sensor. In this paper, two types… (More)
DOI: 10.1109/URAI.2017.7992729

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