High-Bandwidth Active Impedance Control of the Proprioceptive Actuator Design in Dynamic Compliant Robotics

High-Bandwidth Active Impedance Control of the Proprioceptive Actuator Design in Dynamic Compliant Robotics

Dynamic compliant robotics is a fast growing field because of its ability to widen the scope of robotics. The reason for this is that compliant mechanisms may ensure safe/compliant interactions between a robot and an external element—for instance, a human operator. Active impedance control...

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Bibliographic Details
Main Authors: Simon Hjorth Jessing Lund, Peter Billeschou, Leon Bonde Larsen
Format: Article
Language:English
Published: MDPI AG 2019-10-01
Series:Actuators
Subjects:
proprioceptive control
virtual compliance
field oriented control
high noise attenuation
legged robots
motor control
observer
kalman filter
torque control
high bandwidth
bldc
Online Access:https://www.mdpi.com/2076-0825/8/4/71

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