Force Tracking Impedance Control of Hydraulic Series Elastic Actuators Interacting with Unknown Environment
Force tracking control for hydraulic series elastic actuators (SEAs) is the demand in robots interacting with the surrounding world. However, the inherent nonlinearities and uncertainties of the hydraulic system, as well as the unknown environment, make it difficult to achieve precise contact force...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-09-01
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| Series: | Mathematics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2227-7390/10/18/3383 |