Adaptive Torque and Position Control for a Legged Robot Based on a Series Elastic Actuator
نویسندگان
چکیده
منابع مشابه
Actuator Control for the NASA-JSC Valkyrie Humanoid Robot: A Decoupled Dynamics Approach for Torque Control of Series Elastic Robots
This paper discusses the actuator-level control of Valkyrie, a new humanoid robot designed by NASA’s Johnson Space Center in collaboration with several external partners. We focus on several topics pertaining to Valkyrie’s series elastic actuators including control architecture, controller design, and implementation in hardware. A decentralized approach is taken in controlling Valkyrie’s many s...
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Modeling and control of a cable-driven series elastic actuator
Series elastic actuators (SEA) are playing an increasingly important role in the fields of physical human-robot interaction. This paper focuses on the modeling and control of a cable-driven SEA. First, the scheme of the cable-driven SEA has been proposed, and a velocity controlled DC motor has been used as its power source. Based on this, the model of the cable-driven SEA has been built up. Fur...
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ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2016
ISSN: 1729-8814,1729-8814
DOI: 10.5772/62204