Chapter 8Application to Series Elastic Actuator Systems
8.1 Introduction
Series Elastic Actuators (SEAs) are widely applied in advanced robot applications due to their advantages over conventional stiff and non-back derivable actuators in force control, e.g., high fidelity, low cost, low stiction, etc. [41, 57, 88]. As a sketch review of the related literature, linear controllers constitute a main choice. Furthermore, the performances can also be improved by using nonlinear control strategies and adding feedforward control loops, see for examples [51, 53, 64], only mention a few. However, it is worthy of pointing out that almost all those existing control applications to SEAs are based on an asymptotical control ...
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