The Actuator With Mechanically Adjustable Series Compliance

Jonathan W Hurst, Joel E Chestnutt, Alfred A Rizzi
2010 IEEE Transactions on robotics  
Running is a complex dynamic task which places strict requirements on both the physical components and software control systems of a robot. This report explores some of those requirements and in particular explores how a variable compliance actuation system can satisfy many of them. We present the mechanical design and software control of such an actuator system. We analyze its performance through simulation and benchtop experimental validation of a prototype version. In conclusion we
more » ... e, through simulation, the application of our prototype actuator to the problem of biped running.
doi:10.1109/tro.2010.2052398 fatcat:mq6b6zhiajewlltwzkdlcgf5fa