Stable Gaussian process tracking control of antagonistic variable stiffness actuators

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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Bibliographic Details
Main Authors: Zhigang Zou, Wei Li, Chenguang Yang, Yongping Pan
Format: Article
Language:English
Published: Nature Portfolio 2025-06-01
Series:Scientific Reports
Subjects:
Variable stiffness actuator
Compliant actuation
Motion control
Machine learning for control
Gaussian process
Online Access:https://doi.org/10.1038/s41598-025-03659-4
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https://doi.org/10.1038/s41598-025-03659-4

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