Output-Based Control of Robots with Variable Stiffness Actuation

Table 3

parameters of the positioning and stiffness actuators fast controllers used in the simulations.

Symbol	Case no. 1, no. 2, no. 3
Λ1𝑖	1e4
Λ2𝑖	150
Γ1𝑖	9e3
Γ2𝑖	2.7e5
Γ3𝑖	1e3