Stable Gaussian process tracking control of antagonistic variable stiffness actuators
Abstract The control of variable stiffness actuators (VSAs) is challenging because they have highly nonlinear characteristics and are difficult to model accurately. Classical control approaches using high control gains can make VSAs stiff, which alters the inherent compliance of VSAs. Iterative lear...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Nature Portfolio
2025-06-01
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| Series: | Scientific Reports |
| Subjects: | |
| Online Access: | https://doi.org/10.1038/s41598-025-03659-4 |
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