Safe high impedance control of a series-elastic actuator with a disturbance observer
Kevin Haninger,Abner Asignacion,Sehoon Oh,Kevin Haninger,Abner Asignacion,Sehoon Oh
In many series-elastic actuator applications, the ability to safely render a wide range of impedance is important. Advanced torque control techniques such as the disturbance observer (DOB) can improve torque tracking performance, but their impact on safe impedance range is not established. Here, safety is defined with load port passivity, and passivity conditions are developed for two variants of ...
