Abstract: This paper introduces a simple and effective method for selecting the maximum feedback gains in PDtype controllers applied to actuators where feedback delay and derivative signal filtering are present. The method provides ...

Abstract: Series elastic actuators (SEA) are widely used for impact protection and compliant behavior, but they typically fall short in tasks calling for accurate position control. In this paper, we propose a simple and effective ...

Abstract: Time delay is a common phenomenon in robotic systems due to computational requirements and communication properties between or within highlevel and lowlevel controllers as well as the physical constraints of the actuator ...