Design of an Active–Passive Composite Impedance Controller for a Soft Robotic Arm Under Contact Constraints
The inherent passive impedance characteristics of soft robotic arms provide excellent environmental adaptability. When a soft robotic arm interacts with its surroundings, its passive impedance responds swiftly, preventing rigid collisions that could damage the arm and ensuring high safety. However,...
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| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2024-12-01
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| Series: | Biomimetics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2313-7673/9/12/742 |
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