Composite Controller for Antagonistic Tendon Driven Joints With Elastic Tendons and Its Experimental Verification
In this paper, we present the dynamic modeling and controller design of a tendon-driven system that is antagonistically driven by elastic tendons. In the dynamic modeling, the tendons are approximated as linear axial springs, neglecting their masses. An overall equation for motion is established by...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2018-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/8241375/ |