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It is widely acknowledged that the actuator's intrinsic backdrivability is important in realizing a force sensitive behavior. It is desirable to realize such actuator with electric motor that is advantageous from power-to-weight ratio and controllability point of view. Electro-Hydrostatic Actuator is a type of hydraulic actuators that can realize high backdrivability by reducing transmission friction...
Although backdrivability is recognized as an important property of actuators, this term is often used without clear definition. In order to design mechanisms with advanced controllability, it is important to understand the fundamental mechanism of backdrivability. In this paper, we introduced idea of series elasticity and series dissipation of actuators. Based on this idea, total/output backdrivability...
Impedance and Admittance Control are two distinct implementations of the same control goal. It is well known that their stability and performance properties are complementary. In this paper, we present a hybrid system approach, which incorporates Impedance and Admittance Control as two extreme cases of one family of controllers. This approach allows to continuously switch and interpolate between Impedance...
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