Transforming series elastic actuators into Variable Stiffness Actuators thanks to structured H∞ control.

Neil Abroug Edouard Laroche

Published in: ECC (2015)

Keyphrases

control system
shape memory alloy
active control
degrees of freedom
mathematical model
control method
process control
contact force
real world
data sets
artificial neural networks
expert systems
fuzzy logic
closed loop
real time
control theory
feedback loop
robotic manipulator