Matches in SemOpenAlex for { <https://semopenalex.org/work/W3092076617> ?p ?o ?g. }
Showing items 1 to 93 of
93
with 100 items per page.
- W3092076617 abstract "Recently, series elastic actuators (SEAs) are considered to be promising devices for achieving safe human-robot interaction. Various Impedance/admittance control methods have been proposed to realize active compliance. Although lots of research have been conducted to improve the control accuracy, however, time-delay issue in SEA control is not well investigated. To resolve this problem, this paper proposes a novel parallel adaptive time delay (P-ATS) compensator for admittance control of a hydraulic SEA. An admittance controller is first developed and the P-ATS compensator is then adopted to reduce the time delay and tracking error. It is derived from the conventional adaptive time delay (ATS) compensator in which the coefficients are mechanically updated after sampling. This paper designs a special parallel mechanism that allows the coefficient determination procedure to be conducted independently. The whale swarm algorithm with iterative counter (WSA-IC) is adopted for coefficient determination. A criterion is also proposed to evaluate the quality of identified coefficients before updating. This unique mechanism can not only provide more computational resources on coefficient determination, but also increase the quality of the output coefficients. The simulation experiments confirm the superiorities of the P-ATS compensator over conventional methods. The results also verify that the P-ATS compensator can maintain a good performance with a lower sampling rate." @default.
- W3092076617 created "2020-10-15" @default.
- W3092076617 creator A5021960366 @default.
- W3092076617 creator A5048422845 @default.
- W3092076617 creator A5073520045 @default.
- W3092076617 date "2020-08-01" @default.
- W3092076617 modified "2023-09-27" @default.
- W3092076617 title "Adaptive Delay Compensation for Admittance Control of Hydraulic Series Elastic Actuator" @default.
- W3092076617 cites W1973104887 @default.
- W3092076617 cites W2107520880 @default.
- W3092076617 cites W2120675177 @default.
- W3092076617 cites W2121971357 @default.
- W3092076617 cites W2267593487 @default.
- W3092076617 cites W2293200354 @default.
- W3092076617 cites W2295584263 @default.
- W3092076617 cites W2570900422 @default.
- W3092076617 cites W2599869952 @default.
- W3092076617 cites W2749111945 @default.
- W3092076617 cites W2750711367 @default.
- W3092076617 cites W2751278060 @default.
- W3092076617 cites W2770118134 @default.
- W3092076617 cites W2774013341 @default.
- W3092076617 cites W2783009944 @default.
- W3092076617 cites W2825655941 @default.
- W3092076617 cites W2973039514 @default.
- W3092076617 cites W2977032675 @default.
- W3092076617 doi "https://doi.org/10.1109/case48305.2020.9216780" @default.
- W3092076617 hasPublicationYear "2020" @default.
- W3092076617 type Work @default.
- W3092076617 sameAs 3092076617 @default.
- W3092076617 citedByCount "3" @default.
- W3092076617 countsByYear W30920766172022 @default.
- W3092076617 crossrefType "proceedings-article" @default.
- W3092076617 hasAuthorship W3092076617A5021960366 @default.
- W3092076617 hasAuthorship W3092076617A5048422845 @default.
- W3092076617 hasAuthorship W3092076617A5073520045 @default.
- W3092076617 hasConcept C106131492 @default.
- W3092076617 hasConcept C107464732 @default.
- W3092076617 hasConcept C108811297 @default.
- W3092076617 hasConcept C11171543 @default.
- W3092076617 hasConcept C119599485 @default.
- W3092076617 hasConcept C127413603 @default.
- W3092076617 hasConcept C140779682 @default.
- W3092076617 hasConcept C154945302 @default.
- W3092076617 hasConcept C15744967 @default.
- W3092076617 hasConcept C172707124 @default.
- W3092076617 hasConcept C17829176 @default.
- W3092076617 hasConcept C183356978 @default.
- W3092076617 hasConcept C203479927 @default.
- W3092076617 hasConcept C2775924081 @default.
- W3092076617 hasConcept C2780023022 @default.
- W3092076617 hasConcept C31972630 @default.
- W3092076617 hasConcept C41008148 @default.
- W3092076617 hasConcept C47446073 @default.
- W3092076617 hasConcept C6557445 @default.
- W3092076617 hasConcept C86803240 @default.
- W3092076617 hasConceptScore W3092076617C106131492 @default.
- W3092076617 hasConceptScore W3092076617C107464732 @default.
- W3092076617 hasConceptScore W3092076617C108811297 @default.
- W3092076617 hasConceptScore W3092076617C11171543 @default.
- W3092076617 hasConceptScore W3092076617C119599485 @default.
- W3092076617 hasConceptScore W3092076617C127413603 @default.
- W3092076617 hasConceptScore W3092076617C140779682 @default.
- W3092076617 hasConceptScore W3092076617C154945302 @default.
- W3092076617 hasConceptScore W3092076617C15744967 @default.
- W3092076617 hasConceptScore W3092076617C172707124 @default.
- W3092076617 hasConceptScore W3092076617C17829176 @default.
- W3092076617 hasConceptScore W3092076617C183356978 @default.
- W3092076617 hasConceptScore W3092076617C203479927 @default.
- W3092076617 hasConceptScore W3092076617C2775924081 @default.
- W3092076617 hasConceptScore W3092076617C2780023022 @default.
- W3092076617 hasConceptScore W3092076617C31972630 @default.
- W3092076617 hasConceptScore W3092076617C41008148 @default.
- W3092076617 hasConceptScore W3092076617C47446073 @default.
- W3092076617 hasConceptScore W3092076617C6557445 @default.
- W3092076617 hasConceptScore W3092076617C86803240 @default.
- W3092076617 hasLocation W30920766171 @default.
- W3092076617 hasOpenAccess W3092076617 @default.
- W3092076617 hasPrimaryLocation W30920766171 @default.
- W3092076617 hasRelatedWork W1221592 @default.
- W3092076617 hasRelatedWork W12341259 @default.
- W3092076617 hasRelatedWork W13900076 @default.
- W3092076617 hasRelatedWork W14261909 @default.
- W3092076617 hasRelatedWork W14879281 @default.
- W3092076617 hasRelatedWork W1876657 @default.
- W3092076617 hasRelatedWork W3008640 @default.
- W3092076617 hasRelatedWork W3563765 @default.
- W3092076617 hasRelatedWork W430170 @default.
- W3092076617 hasRelatedWork W5122409 @default.
- W3092076617 isParatext "false" @default.
- W3092076617 isRetracted "false" @default.
- W3092076617 magId "3092076617" @default.
- W3092076617 workType "article" @default.