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Cascade Control of Antagonistic VSA—An Engineering Control Approach to a Bioinspired Robot Actuator
A cascade control structure for the simultaneous position and stiffness control of antagonistic tendon-driven variable stiffness actuators (VSAs) implemented in a laboratory setup is presented in the paper. Cascade control has the ability to accelerate, additionally stabilize, and reduce oscillation...
| Autores principales: | , , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
Frontiers Media S.A.
2019
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| Materias: | |
| Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6738013/ https://www.ncbi.nlm.nih.gov/pubmed/31551746 http://dx.doi.org/10.3389/fnbot.2019.00069 |