Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Lee, Hyunwook | - |
dc.contributor.author | Lee, Jinoh | - |
dc.contributor.author | Keppler, Manuel | - |
dc.contributor.author | Oh, Sehoon | - |
dc.date.accessioned | 2024-09-06T14:10:15Z | - |
dc.date.available | 2024-09-06T14:10:15Z | - |
dc.date.created | 2024-03-28 | - |
dc.date.issued | 2024-04 | - |
dc.identifier.issn | 2377-3766 | - |
dc.identifier.uri | http://hdl.handle.net/20.500.11750/56850 | - |
dc.description.abstract | In this letter, a new robust approach is proposed to address the limitation of impedance rendering for Series Elastic Actuators (SEA). The concept of Elastic Structure Preserving (ESP) control allows for the attachment of desired load-side dynamics to the SEA while maintaining a passivity condition, regardless of the parameters for the attached dynamics. The characteristics of ESP control are revisited and translated in the frequency domain, which grants a new perspective to identify its advantages compared to conventional impedance control in terms of passivity. Additionally, we analyze the degradation of performance due to unwanted disturbance and uncertainties in spring stiffness and motor inertia, and a new form of the robust ESP method is proposed by endowing disturbance rejection capability and robustness against uncertainty. © IEEE. | - |
dc.language | English | - |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | - |
dc.title | Robust Elastic Structure Preserving Control for High Impedance Rendering of Series Elastic Actuator | - |
dc.type | Article | - |
dc.identifier.doi | 10.1109/LRA.2024.3366016 | - |
dc.identifier.wosid | 001180758700022 | - |
dc.identifier.scopusid | 2-s2.0-85187297795 | - |
dc.identifier.bibliographicCitation | IEEE Robotics and Automation Letters, v.9, no.4, pp.3601 - 3608 | - |
dc.description.isOpenAccess | FALSE | - |
dc.subject.keywordAuthor | Compliance and impedance control | - |
dc.subject.keywordAuthor | flexible robotics | - |
dc.subject.keywordAuthor | robust control | - |
dc.subject.keywordPlus | PASSIVITY | - |
dc.subject.keywordPlus | ESP | - |
dc.subject.keywordPlus | ROBOTS | - |
dc.citation.endPage | 3608 | - |
dc.citation.number | 4 | - |
dc.citation.startPage | 3601 | - |
dc.citation.title | IEEE Robotics and Automation Letters | - |
dc.citation.volume | 9 | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Robotics | - |
dc.relation.journalWebOfScienceCategory | Robotics | - |
dc.type.docType | Article | - |
There are no files associated with this item.