My research interest is the development of control algorithms for Series Elastic Actuator (SEAs). SEAs have a big advantage when used in a human-compliant robot application. However, the elasticity inherent to SEAs makes the development of control algorithms more challenging, especially for robust control. Hence, the development of a proper control algorithm is important for SEAs.
Among various control algorithms, my research focuses on passivity-based control. The passivity-based control considers the energy transfer of the robot for stable operation.