An Actuator with Mechanically Adjustable Series Compliance
Tech. Report, CMU-RI-TR-04-24, Robotics Institute, Carnegie Mellon University, April, 2004
Abstract
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 demonstrate, through simulation, the application of our prototype actuator to the problem of biped running.
BibTeX
@techreport{Hurst-2004-8895,author = {Jonathan W. Hurst and Joel Chestnutt and Alfred Rizzi},
title = {An Actuator with Mechanically Adjustable Series Compliance},
year = {2004},
month = {April},
institute = {Carnegie Mellon University},
address = {Pittsburgh, PA},
number = {CMU-RI-TR-04-24},
keywords = {actuators, control, legged locomotion, mechanisms},
}
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