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Computed torque control and force analysis for mechanical leg with variable rotation axis powered by servo pneumatic

Binrui Wang1, Youcao Wang1, Jiqing Huang1

  • 1College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018, China.

ISA Transactions
|June 30, 2023
PubMed

Keywords:
Computed torque controlDouble closed-loopMechanical legServo pneumatic muscle (SPM)Variable rotation axis joint

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