A Two-Stage Suboptimal Approximation for Variable Compliance and Torque Control
Title | A Two-Stage Suboptimal Approximation for Variable Compliance and Torque Control |
Publication Type | Conference Paper |
Year of Publication | 2014 |
Authors | Geoffroy, P, Bordron, O, Mansard, N, Stasse, O, Raison, M, Bretl, T |
Conference Name | European Conference on Control |
Abstract | Variable-stiffness actuator is a very appealing mechatronic design that combines the efficiency of stiff actuator in free space with the consistency of elastic actuation in contact. The control of such an actuation system remains a challenge due to its non-linearity and by the fact that it doubles the number of control inputs. In this paper, we propose an original |
URL | https://hal.archives-ouvertes.fr/hal-01114610/document |
DOI | 10.1109/ECC.2014.6862557 |