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A stability analysis for the acceleration-based robust position control of robot manipulators via disturbance observer
(IEEE, 2018-10)
This paper proposes a new nonlinear stability analysis for the acceleration-based robust position control of robot manipulators by using disturbance observer (DOb). It is shown that if the nominal inertia matrix is properly ...
A comparison study on observer-based force control of series elastic actuators
(IEEE, 2018)
This paper presents a comparison study for the robust force control of series elastic actuators (SEAs). In most robotics systems, SEAs are used as an essential actuation method due to the benefits such as lower reflected ...
Optimal stiffness tuning for a lower body exoskeleton with spring-supported passive joints
(IEEE, 2018-10-09)
This paper presents a framework to optimally tune the stiffness values of spring-supported passive joints that are included in lower body exoskeletons. First, a dynamic model of a combined human-exoskeleton system was ...
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