Model based control of series elastic actuators (original) (raw)

Design and Control Considerations for High-Performance Series Elastic Actuators

Sehoon Oh

IEEE/ASME Transactions on Mechatronics, 2014

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Modeling and control of nonlinear series elastic actuator

Aria Alasty

2008

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Robust Force Control of Series Elastic Actuators

Tiến Trần

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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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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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Generalization of Series Elastic Actuator Configurations and Dynamic Behavior Comparison

Sehoon Oh

Actuators, 2017

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Passive and accurate torque control of series elastic actuators

Heike Vallery

… Robots and Systems …, 2007

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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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Continuous Robust Control for Series Elastic Actuator With Unknown Payload Parametersand External Disturbances

IEEE/CAA J. Autom. Sinica

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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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Multistable series elastic actuators: Design and control

Lorenzo Masia

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Position Control of a Series Elastic Actuator Based on Global Sliding Mode Controller Design

IEEE/CAA J. Autom. Sinica

IEEE/CAA Journal of Automatica Sinica, 2019

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Design of robust controller applied for series elastic actuators in controlling humanoid's joint

Van Tu Duong

ArXiv, 2021

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Series Elastic Actuation: Potential and Pitfalls

Jonathan Hurst

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Series damper actuator: a novel force/torque control actuator

Geok Soon Hong

2004

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

Andrei Petrea

IEEJ Journal of Industry Applications

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Parameter Identification of Robotic Systems with Series Elastic Actuators

Dragan Kostic

8th IFAC Symposium on Nonlinear Control Systems, 2010

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A Compact, Modular Series Elastic Actuator

Roderic A. Grupen

Journal of Mechanisms and Robotics, 2016

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Force control of an uncertain series elastic actuator system via a fuzzy sliding mode controller and a nonlinear state estimator

Ali Moafi

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 2019

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Model-based control for exoskeletons with series elastic actuators evaluated on sit-to-stand movements

Kevin Tanghe

Journal of NeuroEngineering and Rehabilitation, 2019

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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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From Series Elastic Actuation to Series-Parallel Elastic Actuation

ronald van ham

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

Yohannes Kassahun

2017

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Robust Tuning Rules for Series Elastic Actuator PID Cascade Controllers

Stefano Ghidini

IFAC-PapersOnLine

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A Comparison Between a Two-Feedback Control Loop and a Reinforcement Learning Algorithm for Compliant Low-Cost Series Elastic Actuators

Steven Bos

Proceedings of the 53rd Hawaii International Conference on System Sciences, 2020

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