Impedance control of series elastic actuators based on well-defined force dynamics.

Andrea Calanca Paolo Fiorini

Published in: Robotics Auton. Syst. (2017)

Keyphrases

impedance control
force control
model free
optimal control
position control
control system
dynamical systems
contact force
shape memory alloy
dynamic model
pose estimation
mathematical model
closed loop
robotic manipulator