Adaptive Torque and Position Control for a Legged Robot Based on a Series Elastic Actuator
Inspired by biological systems, we seek to achieve natural dynamics and versatile locomotion for hopping or running robots by installing a series elastic actuator (SEA) in the joints due to its compliant property, passive adaptability and energy storage. However, robots equipped with these actuators...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2016-02-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/62204 |