Elastic Actuator

Elastic actuators, incorporating compliant elements like springs in series with a motor, are increasingly used in robotics to achieve safe and adaptable interaction with humans and unpredictable environments. Current research focuses on improving control algorithms, particularly using model-free approaches like Gaussian processes and adaptive control techniques (e.g., L1 adaptive control, model reference adaptive control) to handle uncertainties and achieve robust performance, even with nonlinear stiffness. This work is driven by the need for safer and more effective robots in applications ranging from assistive robotics and rehabilitation to legged locomotion, where precise force control and compliance are crucial. The development of accurate models and effective control strategies for these actuators is central to advancing these fields.