Hence this paper proposes a model in which all internal masses are kept separated and moving loads are connected to each end of the actuator. It is generalised ...
An intuitive and comprehensive two-load model for series elastic actuators. S Schütz, A Nejadfard, C Kötting, K Berns. 2016 IEEE 14th International Workshop ...
A new unlumped model specifically for linear series elastic actuators is proposed which uses a rack & pinion conceptualization to intuitively depict the ...
Steffen Schütz, Atabak Nejadfard, Christian Kötting and Karsten Berns An Intuitive and Comprehensive Two-Load Model for Series Elastic Actuators. IEEE 14th ...
Influence of loads and design parameters on the closed-loop ...
dl.acm.org › abs › ROBIO.2016.7866635
S. Schütz, A. Nedjadfard, C. Kötting, and K. Berns, “An intuitive and comprehensive two-load model for Series Elastic Actuators,” in 2016 IEEE 14th ...
Model based control of series elastic actuators | Request PDF
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This contribution presents a comprehensible model based approach of a control structure to control the output force of series elastic actuators.
Load. Mass. Figure 5-11: EM series elastic actuator model with load mass moving in free space. The load mass defines the load motion xl . 5.3.1 Load Forces.
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[PDF] An Unlumped Model for Linear Series Elastic Actuators with Ball Screw ...
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Oct 2, 2015 · Abstract— Series elastic actuators are frequently modeled using a conventional lumped mass model which has remained.
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The Spring Loaded Inverted Pendulum (SLIP) model is a promising dynamic model based on a scientific approach that can explain humans' dynamic walking and ...
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Berns, “An intuitive and comprehensive two-load model for series elastic actuators,” in Advanced Motion Control (AMC), 2016 IEEE 14th International Workshop ...