TCCT - Variable stiffness estimation of a Series Elastic Actuator

2016 35th Chinese Control Conference (CCC)

Author(s): Dong Shuai ; Zhou Lu ; Wang Meng ; Yin Wei ; Liu Jingtai ; Sun Lei
Publisher: TCCT
Publication Date: 1 July 2016
Conference Location: Chengdu, China
Conference Date: 27 July 2016
Page(s): 2,114 - 2,119
ISBN (Electronic): 978-9-8815-6391-0
ISSN (Electronic): 1934-1768
DOI: 10.1109/ChiCC.2016.7553679

This paper focuses on estimating the variable stiffness of the Series Elastic Actuator(SEA) through torque and relative position between the motor and the payload measurements. Although position... View More