A Time Domain Approach to Control of Series Elastic Actuators: Adaptive Torque and Passivity-Based Impedance Control

TitleA Time Domain Approach to Control of Series Elastic Actuators: Adaptive Torque and Passivity-Based Impedance Control
Publication TypeJournal Article
Year of Publication2016
AuthorsLosey, DP, Erwin, A, McDonald, CG, Sergi, F, O'Malley, MK
JournalIEEE/ASME Transactions on Mechatronics
ISSN1083-4435
KeywordsActuators; Adaptation models; Impedance; Springs; Stability analysis; Torque; Torque control
DOI10.1109/TMECH.2016.2557727
Citation Key7457670

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