Impedance-Controlled Variable Stiffness Actuator for Lower Limb Robot Applications.
Lin LiuSteffen LeonhardtChuong NgoBerno J. E. MisgeldPublished in: IEEE Trans Autom. Sci. Eng. (2020)
Keyphrases
- position control
- force control
- feedback loop
- control scheme
- robotic manipulator
- robot arm
- closed loop
- end effector
- control system
- control strategies
- dc motor
- robot manipulators
- pid controller
- impedance control
- degrees of freedom
- control strategy
- mobile robot
- joint angles
- control architecture
- inverse kinematics
- dynamic model
- robotic systems
- visual servoing
- operating conditions
- autonomous robots