Composite Controller for Antagonistic Tendon Driven Joints With Elastic Tendons and Its Experimental Verification

In this paper, we present the dynamic modeling and controller design of a tendon-driven system that is antagonistically driven by elastic tendons. In the dynamic modeling, the tendons are approximated as linear axial springs, neglecting their masses. An overall equation for motion is established by...

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Detalhes bibliográficos

Principais autores:	Muhammad Shoaib, Joono Cheong, Dongil Park, Chanhun Park
Formato:	Artigo
Idioma:	Inglês
Publicado em:	IEEE 2018-01-01
coleção:	IEEE Access
Assuntos:	Tendon-driven system antagonistic actuation composite controller singular perturbation approach
Acesso em linha:	https://ieeexplore.ieee.org/document/8241375/
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