Successive Stiffness Increment and Time Domain Passivity Approach for Stable and High Bandwidth Control of Series Elastic Actuator
ChanIl Lee,Do-Hyeong Kim,Harsimran Singh,Jee-Hwan Ryu,ChanIl Lee,Do-Hyeong Kim,Harsimran Singh,Jee-Hwan Ryu
For safe human-robot interaction, various type of flexible manipulators have been developed. Especially series elastic actuator (SEA) based manipulators have been getting huge attention since the elastic element of SEA prevents people from injury when undesirable collision happens. Moreover, it improves system durability by absorbing impact force, which could damage actuators. However, the elastic...
