A Hybrid Impedance Controller for Series Elastic Actuators to Render a Wide Range of Stable Stiffness in Uncertain Environments.
Yu-Shen LeeKuan-Wei ChiaoChao-Chieh LanPublished in: IEEE Robotics Autom. Lett. (2021)
Keyphrases
- position control
- uncertain environments
- control system
- wide range
- control scheme
- robotic manipulator
- closed loop
- impedance control
- degrees of freedom
- force control
- dc motor
- pid controller
- autonomous systems
- control strategies
- control architecture
- multi robot
- contact force
- control strategy
- control method
- control law
- end effector
- fuzzy logic
- feedback loop
- neural network controller
- optimal control
- control algorithm
- swarm robots
- real time
- behavior recognition
- fuzzy controller
- robotic systems
- robot manipulators