Design of parallel variable stiffness actuators
Direct-drive motors (DDMs) have been increasingly used for robot actuation because they
provide high-fidelity torque control, but they typically have low torque density. Gearing can …
provide high-fidelity torque control, but they typically have low torque density. Gearing can …
A Compact Variable Stiffness Actuator for Agile Legged Locomotion
The legged robots with variable stiffness actuators (VSAs) can achieve energy-efficient and
versatile locomotion. However, equip** legged robots with VSAs in real-world …
versatile locomotion. However, equip** legged robots with VSAs in real-world …
From cockroaches to tanks: The same power-mass-speed relation describes both biological and artificial ground-mobile systems
This paper explores whether artificial ground-mobile systems exhibit a consistent regularity
of relation among mass, power, and speed, similar to that which exists for biological …
of relation among mass, power, and speed, similar to that which exists for biological …
A Variable Clutch Mechanism for Adjustable Stiffness Actuators Based on Bending and Torsion of Prismatic Beams
Today, a major obstacle to develo** locomotion mechanisms that are as safe and energy
efficient as living organisms has been overcome with the development of actuators with …
efficient as living organisms has been overcome with the development of actuators with …