There is a growing need for collaborative robots in the industrial fields. This requirement has led to the need for compliant robotic control, utilizing force sensors or series elastic actuator.
On the other hand, accelerometer is emerging as a new sensor for real-time feedback control and we are applying the acceleration feedback control to improve the performance of compliance control of robots.
We are conducting a study using an additional acceleration sensor to more precisely estimate and control the force through some observer method including disturbance observer, state observer, Kalman-filter.
