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Using parallel stiffness to achieve improved locomotive efficiency with the Sandia STEPPR robot
2015
2015 IEEE International Conference on Robotics and Automation (ICRA)
In this paper we introduce STEPPR (Sandia Transmission-Efficient Prototype Promoting Research), a bipedal robot designed to explore efficient bipedal walking. The initial iteration of this robot achieves efficient motions through powerful electromagnetic actuators and highly back-drivable synthetic rope transmissions. We show how the addition of parallel elastic elements at select joints is predicted to provide substantial energetic benefits: reducing cost of transport by 30 to 50 percent. Two
doi:10.1109/icra.2015.7139275
dblp:conf/icra/MazumdarSSHLDKB15
fatcat:gvx3hxi2qjgunax25xkvcbnkm4