Hysteresis Modeling for Torque Control of an Elastomer Series Elastic Actuator

• Published in: IEEE/ASME transactions on mechatronics Vol. 24; no. 3; pp. 1316 - 1324
• Main Authors: Kim, Dong-Hyun, Oh, Jun-Ho
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.06.2019; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Actuators; Compensation; Deformation; Discrete cosine transforms; Elastomer; Elastomers; Hookes law; Humanoid; Hysteresis; hysteresis modeling; Hysteresis models; Load modeling; Model accuracy; Modelling; Production planning; Robust control; series elastic actuator; Springs; Strain; Torque; Torque control

Recent research on humanoid robot actuators has shown that the use of series elastic actuators (SEAs) is necessary for accurate and robust torque control. Among the numerous implementations of an SEA, using a spring as an elastomer is considered to be the most suitable. However, a major disadvantage...