Antagonistically actuated compliant joint: Torque and stiffness control.
Irene SardellittiGianluca PalliNikolaos G. TsagarakisDarwin G. CaldwellPublished in: IROS (2010)
Keyphrases
- fuzzy logic
- control system
- position control
- control scheme
- force control
- closed loop
- open loop
- position tracking
- control strategy
- control algorithm
- control law
- control loop
- control strategies
- robotic manipulator
- feedback loop
- impedance control
- induction motor
- robot manipulators
- pid controller
- control method
- fuzzy logic control
- dynamic model
- genetic algorithm
- optimal control
- mobile robot
- external forces
- evolutionary algorithm