Cascade Control of Antagonistic VSA—An Engineering Control Approach to a Bioinspired Robot Actuator

Cascade Control of Antagonistic VSA—An Engineering Control Approach to a Bioinspired Robot Actuator

A cascade control structure for the simultaneous position and stiffness control of antagonistic tendon-driven variable stiffness actuators (VSAs) implemented in a laboratory setup is presented in the paper. Cascade control has the ability to accelerate, additionally stabilize, and reduce oscillation...

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Bibliographic Details
Main Authors: Branko Lukić, Kosta Jovanović, Tomislav B. Šekara
Format: Article
Language:English
Published: Frontiers Media S.A. 2019-09-01
Series:Frontiers in Neurorobotics
Subjects:
antagonistic actuator
tendon-driven actuators
variable stiffness actuators
bioinspired robotics
physical human–robot interaction
position–stiffness control
Online Access:https://www.frontiersin.org/article/10.3389/fnbot.2019.00069/full

Internet

https://www.frontiersin.org/article/10.3389/fnbot.2019.00069/full

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