Control of a biped robot driven by elastomer-based series elastic actuator

This paper proposes the novel force control method based on higher-order derivative for high-backdrivable actuation of the robot employing elastomer-based series elastic actuators (SEAs). Control of SEAs is generally difficult because they consist of an underactuated 2-inertia system. Previously, we control it with a position control method. Lately, we employ a torque control method to overcome several problems. The new one enable robot to be controlled more easily, safely and efficiently. To evaluate this method, the experiments of previous position control method, conventional force control method, and proposed force control method are performed.