Adaptive Interaction Control of Compliant Robots Using Impedance Learning

This paper presents an impedance learning-based adaptive control strategy for series elastic actuator (SEA)-driven compliant robots without the measurement of the robot–environment interaction force. The adaptive controller is designed based on the command filter-based adaptive backstepping approach...

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Detalles Bibliográficos
Autores principales: Sun, Tairen, Yang, Jiantao
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2022
Materias:
Communication
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9784497/
https://www.ncbi.nlm.nih.gov/pubmed/36560108
http://dx.doi.org/10.3390/s22249740

Internet

https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9784497/
https://www.ncbi.nlm.nih.gov/pubmed/36560108
http://dx.doi.org/10.3390/s22249740

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