This paper explores some of those requirements and illustrates how a variable compliance actuation system can satisfy them.
A robot designed specifically for autonomous legged loco- motion should be capable of highly dynamic running, jumping, and stumble recovery, and should achieve ...
Oct 22, 2024 · For example, human-running biomechanics exhibit significant variations in effective leg stiffness corresponding to changes in speed [11] and ...
We present the design, analysis, simulation, and experimental validation of such an actuator system. In conclusion we demonstrate, through simulation, the ...
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In this paper, we propose a novel Variable-Length Leaf-Spring Actuator (VLLSA) for highly dynamic legged-robotic system, as shown in Fig. 1. The proposed ...
We introduce a new actuator design based on tendon transmission, where a main motor controls the equilibrium position of the link while a secondary motor is in ...
Aug 27, 2023 · In this paper, we present a novel Variable-Length Leaf-Spring Actuator (VLLSA) designed for legged robots that aims to address the aforementioned limitations.
Missing: Physically Dynamic
In this paper, we present an overview of variable stiffness leg spring designs, and introduce a new ap- proach specifically for autonomous dynamic legged ...
Abstract—This paper describes the design and modelling of a new variable stiffness actuator (CompAct-VSA). The principle of operation of CompAct-VSA is ...
Variable stiffness actuators realize a particular class of actuators characterized by the property that the apparent output stiffness can be changed ...