An Actuator with Physically Variable Stiffness for Highly Dynamic Legged Locomotion

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Running is a complex dynamical task which places strict requirements on both the physical components and control systems of a robot. This paper explores some of those requirements and explores how a variable compliance actuation system can satisfy many of them. We present the design, analysis, simulation, and experimental validation of such an actuator system. In conclusion we demonstrate, through simulation, the application of our prototype actuator to the problem of biped running.

 

 

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