Unidirectional virtual inerter for high-bandwidth robot motion control

Hyeonseok Choi, Nam Gyun Kim, Seungjoon Baek, Christian Ott, Jee-Hwan Ryu, Department of Civil and Environmental Engineering, Republic of Korea, Robotics Program, Republic of Korea, Automation and Control Institute , TU Wien

The International Journal of Robotics Research

Published online on August 08, 2025

Abstract

The International Journal of Robotics Research, Volume 45, Issue 4, Page 583-601, April 2026.
This paper introduces a Unidirectional Virtual Inerter (UVI) as a novel feedback control element in conjunction with a traditional PD controller for high-bandwidth robot motion control. Designed to harness the beneficial properties of a physical inerter ...