Compliant multi-DOF actuation

DOI10.1007/978-3-030-40886-2_5MaRDI QIDQ5014613zbMATH OpenOpenAlexFDO

Authors H. Vallery, M. Plooij

Publication date 8 December 2021

Published in Novel Bioinspired Actuator Designs for Robotics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/978-3-030-40886-2_5

zbMATH Keywords

cascaded force-velocity controllinear-quadratic-integral (LQI) control

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Automated systems (robots, etc.) in control theory (93C85)

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Cited in

(3)

• MACCEPA, a mechanically adjustable compliance and controllable equilibrium state actuator: a 3 DOF joint with two independent compliances
• Energy-efficient kinematically redundant actuation
• Compliant actuation for wearable robotics

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