Leveraging disturbance observer based torque control for improved impedance rendering with series elastic actuators.
Joshua S. MehlingJames HolleyMarcia K. O'MalleyPublished in: IROS (2015)
Keyphrases
- control system
- control strategy
- position control
- control algorithm
- shape memory alloy
- control method
- optimal control
- external forces
- robotic manipulator
- mathematical model
- computer graphics
- real time
- visual servoing
- degrees of freedom
- dynamic model
- closed loop
- control scheme
- texture mapping
- fuzzy logic
- high quality
- eddy current
- image processing