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Leveraging disturbance observer based torque control for improved impedance rendering with series elastic actuators

Joshua S. Mehling, James Holley, Marcia K. O'Malley. Leveraging disturbance observer based torque control for improved impedance rendering with series elastic actuators. In 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, September 28 - October 2, 2015. pages 1646-1651, IEEE, 2015. [doi]

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Joshua S. Mehling

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James Holley

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Marcia K. O'Malley

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