This is the code I created to operate a single-phase excitation stepper motor. Without an argument it moves one step clockwise, and if you pass true as an argument it moves one step counterclockwise.
Abstract: For robots with joint elasticity, discrepancies exist between the motor side and the load side (e.g., the link of the robotic joint). Thus, the load side (end-effector) performance can ...
Abstract: A series elastic actuator (SEA) consists of an actuator in series with a compliant element. By measuring and controlling the displacement of the compliant element, an SEA provides better ...
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