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Elastic joints are considered to outperform rigid joints in terms of peak dynamics, collision tolerance, robustness, and energy efficiency. Therefore, intrinsically elastic joints have become progressively prominent over the last years for a variety of robotic applications. In this article, a two-feedback loops position control algorithm is proposed for an elastic actuator to deal with the influence from external disturbances. The considered elastic actuator was recently designed by our research group for Serpens, a low-cost, open-source and highly-compliant multi-purpose modular snake robot. In particular, the inner controller loop is implemented as a model reference adaptive controller (MRAC) to cope with uncertainties in the system parameters, while the outer control loop adopts a fuzzy proportional-integral controller (FPIC) to reduce the effect of external disturbances on the load. The advantage of combining the FPIC and the MRAC controllers is the possibility of achieving independence with respect to imprecise system parameters. A mathematical model of the considered elastic actuator is also presented to validate the proposed controller through simulations. The operability of the presented control scheme is demonstrated. In closed-loop the load swing is rapidly confined and eliminated thereafter.

A robust two-feedback loops position control algorithm for compliant low-cost series elastic actuators