Modeling and Control of Adjustable Articulated Parallel Compliant Actuation Arrangements in Articulated Robots
Considerable advances in robotic actuation technology have been made in recent years. Particularly the use of compliance has increased, both as series elastic elements as well as in parallel to the main actuation drives. This work focuses on the model formulation and control of compliant actuation s...
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2018-02-01
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| Series: | Frontiers in Robotics and AI |
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| Online Access: | http://journal.frontiersin.org/article/10.3389/frobt.2018.00004/full |