ICRA 2019poster4 citations
A Simple but Robust Impedance Controller for Series Elastic Actuators
Dongwon Kim, Kyung Koh, Gun-Rae Cho, Li-Qun Zhang
Abstract
This study presents an impedance controller for series elastic actuators (SEAs), using the singular perturbation (SP) theory and time-delay estimation (TDE) technique. While the SP theory attenuates the requirement for states to be measured, the TDE technique eliminates the requirement for identifying system parameters. Through a numerical analysis and experimental validation, we demonstrate that the proposed controller produces satisfactory tracking performance while-at the same time-pursues wider operational bandwidth and lower driving-point impedance.
BibTeX
@inproceedings{icra2019_asimplebutrobust,
title = {A Simple but Robust Impedance Controller for Series Elastic Actuators},
author = {Dongwon Kim and Kyung Koh and Gun-Rae Cho and Li-Qun Zhang},
booktitle = {ICRA 2019},
year = {2019}
}