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Adaptive hysteresis compensation for a magneto-rheological robot actuator
2013
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
In this paper, adaptive compensation of the hysteresis in a Magneto-Rheological (MR) fluid based actuators and its application for sensor-less high fidelity force/torque control is investigated. The MR actuator considered in this paper was originally described in [1] and [2]. This actuator offers high torque-to-mass and torque-to-inertia ratios. Yet, as an essential component of MR actuators, the magnetic circuit of the actuator shows hysteresis between its input current/voltage and output
doi:10.1109/iros.2013.6697063
dblp:conf/iros/YadmellatK13
fatcat:gmf4leh6vnbhdjr443po2eu7bi