High-precision dynamic torque control of high stiffness actuator for humanoids

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Updated: Jul 22, 2025

Method to Measure Tone of Axial and Proximal Muscle
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Yaliang Liu1, Xuechao Chen1, Zhangguo Yu2

  • 1School of Mechatronical Engineering, Beijing Institute of Technology (BIT), Beijing 100081, China; The Key Laboratory of Biomimetic Robots and Systems, Ministry of Education, Beijing 100081, China.

ISA Transactions
|July 20, 2023
PubMed

Keywords:
Dynamic current control (DCC)High stiffness actuator (HSA)Humanoid robotInternal model control (IMC)Torque control

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