期刊
出版社
IEEE
关键词
Series Elastic Actuator (SEA); Force control; Parallel Robot
This paper proposes a Virtual Ground Robot (VGR) that can interact with a human. The proposed Virtual Ground Robot creates a virtual ground, which has three-degree-of freedom motions in the pitch, the roll and the height directions. The VGR are driven by Series Elastics Actuator(SEA), which enable force control without force sensor. In this paper, two types of training are proposed: Active training and Passive training. In order to implement two types of training, Geometric Posture and Spatial Impedance mode are suggested using control algorithm.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据