Velocity Estimation for Ultralightweight Tendon-Driven Series Elastic Robots.

Accurate velocity estimation is an important basis for robot control, but especially challenging for highly elastically driven robots. These robots show large swing or oscillation effects if they are not damped appropriately during the performed motion. In this letter, we consider an ultralightweight tendon-driven series elastic robot arm equipped with low-resolution joint position encoders. We pr...