2015
Projected PID controller for Tendon-Driven Manipulators actuated by magneto-rheological clutches
Joël Viau, Patrick Chouinard, Jean-Philippe Lucking Bigué, Guifré Julió, François Michaud, Shingo Shimoda +1
IROS 2015poster
Tendon-Driven Manipulators (TDM) have been used in various applications requiring low inertia robots having multiple degrees-of-freedom (DOF) and redundancy. TDMs are generally actuated by gear electric motors placed at the base of the robot, and consequently require complex cable tension feedback f…