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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...
| Autores principales: | , |
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| Formato: | Online Artículo Texto |
| Lenguaje: | English |
| Publicado: |
MDPI
2022
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| Materias: | |
| 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 |