Passive and accurate torque control of series elastic actuators (original) (raw)

Improving the Dynamic Force Control of Series Elastic Actuation Using Motors of High Torque-to-Inertia Ratios

Chao-Chieh Lan

IEEE Access, 2020

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Series Elastic Actuation: Potential and Pitfalls

Jonathan Hurst

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Design and Control Considerations for High-Performance Series Elastic Actuators

Sehoon Oh

IEEE/ASME Transactions on Mechatronics, 2014

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Series Viscoelastic Actuators Can Match Human Force Perception

Heike Vallery, Elia Gatti

IEEE/ASME Transactions on Mechatronics, 2011

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Impedance Control and Performance Measure of Series Elastic Actuators

Steven Jens Jorgensen

IEEE Transactions on Industrial Electronics, 2017

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Robust Force Control of Series Elastic Actuators

Tiến Trần

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Design of a Miniature Series Elastic Actuator for Bilateral Teleoperations Requiring Accurate Torque Sensing and Control

Chao-Chieh Lan

IEEE Robotics and Automation Letters, 2019

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Safe High Stiffness Impedance Control for Series Elastic Actuators using Collocated Position Feedback

Andrei Petrea

IEEJ Journal of Industry Applications

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A series elastic actuator as a new load-sensitive continuously variable transmission mechanism for control actuation systems

gorkem secer

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013

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On Stability and Passivity of Haptic Devices Characterized by a Series Elastic Actuation and Considerable End-Point Mass

Momina Rizwan (Student)

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From Series Elastic Actuation to Series-Parallel Elastic Actuation

ronald van ham

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Impedance control of a class of series elastic actuators: performance limitations arising from link dynamics, disturbance attenuation and impedance emulation

D. Caldwell, Gustavo A Medrano-Cerda

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Series elastic actuators

Gill Pratt

Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots

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Introducing Series Elastic Links for Affordable Torque-Controlled Robots

Mauro Serpelloni

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Model based control of series elastic actuators

U. Konigorski

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Generalization of Series Elastic Actuator Configurations and Dynamic Behavior Comparison

Sehoon Oh

Actuators, 2017

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Decomposing the performance of admittance and series elastic haptic rendering architectures

Brent Gillespie

2017 IEEE World Haptics Conference (WHC), 2017

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Multistable series elastic actuators: Design and control

Lorenzo Masia

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Series elasticity for free free-space motion for free

Brent Gillespie

2014 IEEE Haptics Symposium (HAPTICS), 2014

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A Compact, Modular Series Elastic Actuator

Roderic A. Grupen

Journal of Mechanisms and Robotics, 2016

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Modeling and control of nonlinear series elastic actuator

Aria Alasty

2008

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Late motor processing in low-impedance robots: Impedance control of series-elastic actuators

Gill Pratt

… , 2004. Proceedings of …, 2004

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Torque Control of a Series Elastic Actuator Using an Ultrasonic Motor with Angular-Velocity Saturation

Satoshi Komada

IEEJ Transactions on Industry Applications, 2020

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Learning the Elasticity of a Series-Elastic Actuator for Accurate Torque Control

Yohannes Kassahun

2017

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Benchmarking Torque Control Strategies for a Torsion-Based Series Elastic Actuator

Sinan Coruk

IEEE Robotics & Automation Magazine, 2021

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Series damper actuator: a novel force/torque control actuator

Geok Soon Hong

2004

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Series-Parallel Elastic Actuation (SPEA) with intermittent mechanism for reduced motor torque and increased efficiency

M. Van Damme

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