Impedance control of a manipulator using torque-controlled lightweight actuators

摘要

The performance of a novel actuator for advanced robots is studied in terms of its compactness and force controllability. The authors present lightweight electric actuators and compact control drivers, and their sophisticated force control performance in the execution of dexterous and compliant manipulation. State and dynamic force controllability of the proposed actuator is verified by some impedance control experiments with a three degree-of-freedom manipulator.