Combining series elastic actuation and magneto-rheological damping for the control of agile locomotion.
Elena GarciaJuan Carlos ArevaloGustavo MuñozPablo González de SantosPublished in: Robotics Auton. Syst. (2011)
Keyphrases
- mr damper
- robotic systems
- control strategy
- active control
- robot control
- degrees of freedom
- control system
- highly nonlinear
- mathematical model
- control algorithm
- control method
- power system
- disturbance rejection
- adaptive control
- software development
- mobile robot
- open loop
- pid controller
- closed loop
- inverted pendulum
- software engineering
- legged robots
- robot motion
- supply chain management
- dynamic model
- reinforcement learning