A serial-type dual actuator unit with planetary gear train: Basic design and applications

IEEE/ASME Transactions on Mechatronics

Volumn 15, Issue 1, 2010, Pages 108-116

  Kim, Byeong Sang ^a   Song, Jae Bok ^a   Park, Jung Jun ^a  

^a Korea University   (South Korea)

Author keywords

Environment estimation; Force estimation; Planetary gear train; Redundant actuation; Variable impedance approach (VIA)

Indexed keywords

FORCE ESTIMATION; PLANETARY GEAR TRAIN; REDUNDANT ACTUATION; VARIABLE IMPEDANCE; VARIABLE IMPEDANCE APPROACH (VIA);

ACTUATORS; ADAPTIVE CONTROL SYSTEMS; EPICYCLIC GEARS; ESTIMATION; FEEDBACK; FEEDBACK CONTROL; ROBOT APPLICATIONS; ROBOTICS; SENSORS; STIFFNESS; TRACKING (POSITION);

POSITION CONTROL;

EID: 70549092087     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMECH.2009.2019639     Document Type: Article

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