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Computed Torque Control and Force Analysis for Mechanical Leg with Variable Rotation Axis Powered by Servo Pneumatic Muscle.

Binrui Wang, Youcao Wang,Jiqing Huang, Yuxin Zeng,Xiaolong Liu,Kun Zhou

ISA TRANSACTIONS（2023）

Cited 7|Views34
Key words
Servo pneumatic muscle (SPM),Variable rotation axis joint,Mechanical leg,Double closed-loop,Computed torque control
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