Series Elastic Actuators
This thesis presents the design, construction, control and evaluation of a novel force controlled actuator. Traditional force controlled actuators are designed from the premise that "Stiffer is better''. This approach gives a high bandwidth system, prone to problems of contact i...
| Main Author: | |
|---|---|
| Language: | en_US |
| Published: |
2004
|
| Subjects: | |
| Online Access: | http://hdl.handle.net/1721.1/6776 |