A Fundamental Limitation of Passive Spring Rendering With Series Elastic Actuation.
Sign Up to like & getrecommendations! Published in 2023 at "IEEE transactions on haptics"
DOI: 10.1109/toh.2023.3260063
Abstract: We establish a fundamental limitation of stiffness rendering with series elastic actuation by rigorously proving that no causal controller can passively render virtual stiffness levels that are higher than the stiffness of the physical series… read more here.
Keywords: series elastic; series; stiffness; fundamental limitation ... See more keywords
Elastic-Actuation Mechanism for Repetitive Hopping Based on Power Modulation and Cyclic Trajectory Generation
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Robotics"
DOI: 10.1109/tro.2022.3189249
Abstract: Animal locomotion results from a combination of power modulation and cyclic appendage trajectories, but combining these two properties in small-sized robots is difficult. Here, we introduce and characterize a new elastic actuation system based on… read more here.
Keywords: elastic actuation; modulation cyclic; trajectory generation; power modulation ... See more keywords