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Using parallel stiffness to achieve improved locomotive efficiency with the Sandia STEPPR robot

Anirban Mazumdar, Steven Spencer, Jonathan Salton, Clinton Hobart, Joshua Love, Kevin Dullea, Michael Kuehl, Timothy Blada, Morgan Quigley, Jesper Smith, Sylvain Bertrand, Tingfan Wu (+2 others)
2015 2015 IEEE International Conference on Robotics and Automation (ICRA)  
Finally, this paper concludes with the design of two unique parallel spring mechanisms to be added to the current STEPPR robot in order to provide improved locomotive efficiency.  ...  In this paper we introduce STEPPR (Sandia Transmission-Efficient Prototype Promoting Research), a bipedal robot designed to explore efficient bipedal walking.  ...  ACKNOWLEDGMENT The authors thank Greg Brunson and Nadia Coleman for their contributions to prototyping and testing.  ... 
doi:10.1109/icra.2015.7139275 dblp:conf/icra/MazumdarSSHLDKB15 fatcat:gvx3hxi2qjgunax25xkvcbnkm4

Towards the Exploitation of Physical Compliance in Segmented and Electrically Actuated Robotic Legs: A Review Focused on Elastic Mechanisms

Chen, Liang, Zhu, Liu, Zhang, Hao, Zhao
2019 Sensors  
In parallel, the design challenges and possible future works associated with physical compliance in robotic legs are also identified and proposed.  ...  Physical compliance has been increasingly used in robotic legs, due to its advantages in terms of the mechanical regulation of leg mechanics and energetics and the passive response to abrupt external disturbances  ...  found that adding springs in parallel with the knee actuators can improve the energetic efficiency of walking, with higher stiffnesses providing greater benefit at higher speeds and lower stiffnesses  ... 
doi:10.3390/s19245351 pmid:31817236 pmcid:PMC6960854 fatcat:hjjisr77lba7ximszz4iapua7e