SELib
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The Series ELastic Library provides a set of control algorithm. It is designed to control systems containing a series elastic (SE) element. The SE can be a spring (SEA, Series Elastic Actuator), but also links with a low stifness (SEL, Series Elastic Link). In [1], we preoved that SEL can be controlled as a SEA under certain assumptions.
Gitlab Repository: https://gitlab.com/altairLab/elasticteam/SELibDev.git Doxygen: https://altairlab.gitlab.io/elasticteam/SELibDev/ Documentation on a former version of the library: https://sandbox.softroboticstoolkit.com/book/motivations
The master branch contains the last official version of the library (Doxygen is autogenerated when push on this branch). The master_dev branch contains the last stable version of the library.
For any suggestion, question or need for improvements please contact andrea.calanca at univr.it. References:
[1] Calanca, Andrea, et al. "Introducing Series Elastic Links for Affordable Torque-Controlled Robots." IEEE Robotics and Automation Letters 4.1 (2019): 137-144.