A Variable Stiffness Actuator Module With Favorable Mass Distribution for a Bio-inspired Biped Robot

Achieving human-like locomotion with humanoid platforms often requires the use of variable stiffness actuators (VSAs) in multi-degree-of-freedom robotic joints. VSAs possess 2 motors for the control of both stiffness and equilibrium position. Hence, they add mass and mechanical complexity to the des...

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Dettagli Bibliografici
Pubblicato in:Front Neurorobot
Autori principali: Rodriguez-Cianca, David, Weckx, Maarten, Jimenez-Fabian, Rene, Torricelli, Diego, Gonzalez-Vargas, Jose, Sanchez-Villamañan, M.Carmen, Sartori, Massimo, Berns, Karsten, Vanderborght, Bram, Pons, J. Luis, Lefeber, Dirk
Natura: Artigo
Lingua:Inglês
Pubblicazione: Frontiers Media S.A. 2019
Soggetti:
Robotics and AI
Accesso online:https://ncbi.nlm.nih.gov/pmc/articles/PMC6533922/
https://ncbi.nlm.nih.gov/pubmed/31156418
https://ncbi.nlm.nih.govhttp://dx.doi.org/10.3389/fnbot.2019.00020
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