Control and Evaluation of Series Elastic Actuators with Nonlinear Rubber Springs.
2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)（2015）
关键词
urethane rubber,soft linear metal spring,stiff linear metal spring,state observer,torque tracking,rubber elastic element,variable radius cam,NLS design,drivetrains,nonlinear rubber spring,series elastic actuator
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