Robust Sliding Mode Control for Robots Driven by Compliant Actuators

Compliant actuators can offer many attractive features over stiff actuators in real human-robot interaction applications, such as low output impedance, smooth force transmission, and shock tolerance. This brief focuses on a robust sliding mode control (SMC) methodology for robotic systems with compliant actuators. First, a continuous SMC design is introduced due to its advantages of strong robustness and chattering attenuation. However, this...