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cs.RO2022
A Unified Robust Motion Controller Synthesis for Compliant Robots Driven by Series Elastic Actuators
Emre Sariyildiz
This paper proposes a unified robust motion controller for the position and force control problems of compliant robot manipulators driven by Series Elastic Actuators (SEAs). It is…
cs.RO2019★ 1 cited
A Sliding Mode Force and Position Controller Synthesis for Series Elastic Actuators
Emre Sariyildiz, Rahim Mutlu, Haoyong Yu
This paper deals with the robust force and position control problems of Series Elastic Actuators. It is shown that a Series Elastic Actuator's force control problem can be describe…