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dc.contributor.authorRessler, Stephen Andrewen_US
dc.date.accessioned2014-04-15T08:01:05Z
dc.date.available2014-04-15T08:01:05Z
dc.date.issued2014-04-14en_US
dc.identifier.othervt_gsexam:2721en_US
dc.identifier.urihttp://hdl.handle.net/10919/47359
dc.description.abstractThis paper discusses the design and implementation of a high performance, custom control solution for series elastic actuators (SEA) in a parallel or serial configuration. In many modern robotics applications, controlling actuator output force accurately and with high bandwidth is extremely important. The series elastic actuator has become popular in applications which require precise force control, however currently not many commercial options exist. Commonly, these actuators are custom designed and use electric motors, however most off-the-shelf electric motor drives are not designed for this specific application. In this paper, the hardware and software architecture of a control device designed specifically for force controlled series elastic actuators is described, along with test results on a novel SEA design.en_US
dc.format.mediumETDen_US
dc.publisherVirginia Techen_US
dc.rightsThis Item is protected by copyright and/or related rights. Some uses of this Item may be deemed fair and permitted by law even without permission from the rights holder(s), or the rights holder(s) may have licensed the work for use under certain conditions. For other uses you need to obtain permission from the rights holder(s).en_US
dc.subjectSeries Elastic Actuatoren_US
dc.subjectMotor Controlleren_US
dc.subjectHumanoid Roboten_US
dc.titleDesign and Implementation of a Dual Axis Motor Controller for Parallel and Serial Series Elastic Actuatorsen_US
dc.typeThesisen_US
dc.contributor.departmentElectrical and Computer Engineeringen_US
dc.description.degreeMaster of Scienceen_US
thesis.degree.nameMaster of Scienceen_US
thesis.degree.levelmastersen_US
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen_US
thesis.degree.disciplineComputer Engineeringen_US
dc.contributor.committeechairMartin, Thomas L.en_US
dc.contributor.committeechairHong, Dennis W.en_US
dc.contributor.committeememberWoolsey, Craig A.en_US


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