Cascade Control of Antagonistic VSA—An Engineering Control Approach to a Bioinspired Robot Actuator
A cascade control structure for the simultaneous position and stiffness control of antagonistic tendon-driven variable stiffness actuators (VSAs) implemented in a laboratory setup is presented in the paper. Cascade control has the ability to accelerate, additionally stabilize, and reduce oscillation...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Frontiers Media S.A.
2019-09-01
|
| Series: | Frontiers in Neurorobotics |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/article/10.3389/fnbot.2019.00069/full |