A Robotic Torso Joint With Adjustable Linear Spring Mechanism for Natural Dynamic Motions in a Differential-Elastic Arrangement
IEEE Robotics and Automation Letters(2022)
摘要
To be operated in unknown or complex environments, modern robots have to fulfill various challenging criteria. Among them, one finds requirements such as a high level of robustness to withstand impacts and the capabilities to physically interact in a safe manner. One way to achieve that is to integrate variable-stiffness actuators into the systems, enabling compliant behavior through the elastic c...
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关键词
Springs,Robots,Actuators,Torso,Resonant frequency,Joints,Dynamics
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