2021
Smith-Predictor-Based Torque Control of a Rolling Diaphragm Hydrostatic Transmission
RA-L 2021
Rolling Diaphragm Hydrostatic Transmissions (RDHT) are high-performance low-cost solutions to delocalize heavy actuators away from the joints of robotic systems. Exploiting a low-cost pressure-based sensing technique, we propose here a Smith-predictor-based joint torque control of an RDHT-based actu