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The Actuator With Mechanically Adjustable Series Compliance

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3 Author(s)
Hurst, J.W. ; Sch. of Mech., Ind., & Manuf. Eng., Oregon State Univ., Corvallis, OR, USA ; Chestnutt, J.E. ; Rizzi, A.A.

Running is a complex dynamic task that places strict requirements on both the physical components and software-control systems of a robot. This paper 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 system for such an actuator system. We analyze its performance through simulation and bench-top experimental validation of a prototype version. In conclusion, we demonstrate, through simulation, the application of our proof-of-concept actuator to the problem of biped running.

Published in:

Robotics, IEEE Transactions on  (Volume:26 ,  Issue: 4 )