2020
Backlash-Compensated Active Disturbance Rejection Control of Nonlinear Multi-Input Series Elastic Actuators
ICRA 2020poster
Series elastic actuators with passive compliance have been gaining increasing popularity in force-controlled robotic manipulators. One of the reasons is the actuator's ability to infer the applied torque by measuring the deflection of the elastic element as opposed to directly with dedicated torque…