Modeling, Control, and Numerical Simulations of a Novel Binary-Controlled Variable Stiffness Actuator (BcVSA)

Modeling, Control, and Numerical Simulations of a Novel Binary-Controlled Variable Stiffness Actuator (BcVSA)

This research work aims at realizing a new compliant robotic actuator for safe human-robotic interaction. In this paper, we present the modeling, control, and numerical simulations of a novel Binary-Controlled Variable Stiffness Actuator (BcVSA) aiming to be used for the development of a novel compl...

Full description

Bibliographic Details
Main Authors: Irfan Hussain, Ahmad Albalasie, Mohammad I. Awad, Lakmal Seneviratne, Dongming Gan
Format: Article
Language:English
Published: Frontiers Media S.A. 2018-06-01
Series:Frontiers in Robotics and AI
Subjects:
variable stiffness actuators
MPC
multiple MPC
safety
human-robotic interaction
actuator control
Online Access:https://www.frontiersin.org/article/10.3389/frobt.2018.00068/full

Internet

https://www.frontiersin.org/article/10.3389/frobt.2018.00068/full

Similar Items