Dynamic Modeling and Control of Antagonistic Variable Stiffness Joint Actuator
نویسندگان
چکیده
منابع مشابه
A Stiffness Estimator for Agonistic-Antagonistic Variable-Stiffness-Actuator Devices
Safe Physical Human Robot Interaction, conservation of energy and adaptability are just the main robotic applications that prompted the development of a number of Variable Stiffness Actuators (VSA). Implemented in a variety of ways, they use various technologies, and feature the most diverse mechanical solutions, all of which share a fundamentally unavoidable nonlinear behavior. The control sch...
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ژورنال
عنوان ژورنال: Actuators
سال: 2021
ISSN: 2076-0825
DOI: 10.3390/act10060116