This paper presents a position control scheme for flexible joint robot based on online gravity
compensation (OGC). After concluding some drawbacks of OGC-based PD control law, a …

The elastic energy storage in biologically inspired variable impedance actuators (VIA) offer
the capability of executing cyclic and/or explosive multi-degree of freedom (DoF) motions …

The compliance of series elastic actuators (SEAs) is significant for ensuring safe human–
machine interaction. However, in practical applications, the SEA is inevitably encountered …

The development and control of a rotary series elastic actuator (SEA) are investigated in this
paper. First, a rotary SEA is designed with a small volume and is lightweight, where the …

This paper presents a control approach to stabilize limit cycle motions along a mechanical
mode of variable stiffness actuated (VSA) robots. Thereby, first a PD controller with gravity …

Robotic systems find application in many areas today. Well known is the industrial field,
where robots execute tasks which require high accuracy, fast execution cycles, or the …

Biologically inspired Variable Impedance Actuators (VIA) offer the capability to execute
cyclic and/or explosive multi degree of freedom (DoF) motions efficiently by storing elastic …

Series elastic actuators (SEAs) are powerful devices in the area of human-robot
collaboration. However, they still suffer from difficult position control issues, mainly because …

In this paper, we derive new relative perturbation bounds for eigenvectors and eigenvalues
for regular quadratic eigenvalue problems of the form (λ 2 M+ λ C+ K) x= 0, where M and K …

Flexible joint robots (FJRs) can offer several practical advantages over rigid joint robots such
as lightweight, low output impedance, safe operations, smooth force transmission, enhanced …