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Series-parallel elastic actuation (SPEA) with intermittent mechanism for reduced motor torque and increased efficiency.
Glenn Mathijssen
Branko Brackx
Michaël Van Damme
Dirk Lefeber
Bram Vanderborght
Published in:
IROS (2013)
Keyphrases
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series parallel
joint space
multi objective
control algorithm
induction motor
brushless dc
control system
tree decomposition
direct drive
position control
temporal reasoning
multiobjective optimization
computational complexity
constraint networks
pareto optimal
control scheme
upper bound
objective function