An Actuator with Physically Variable Stiffness for Highly Dynamic Legged Locomotion

Jonathan W. Hurst, Joel Chestnutt, and Alfred Rizzi
Proceedings of the 2004 International Conference on Robotics and Automation, May, 2004, pp. 4662 - 4667.


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Abstract
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.

Keywords
Legged Locomotion, Actuators, Control, Design

Notes
Associated Lab(s) / Group(s): Microdynamic Systems Laboratory
Associated Project(s): The Electric Cable Differential (ECD) Leg and Actuator with Mechanically Adjustable Series Compliance
Number of pages: 6

Text Reference
Jonathan W. Hurst, Joel Chestnutt, and Alfred Rizzi, "An Actuator with Physically Variable Stiffness for Highly Dynamic Legged Locomotion," Proceedings of the 2004 International Conference on Robotics and Automation, May, 2004, pp. 4662 - 4667.

BibTeX Reference
@inproceedings{Hurst_2004_4686,
   author = "Jonathan W Hurst and Joel Chestnutt and Alfred Rizzi",
   title = "An Actuator with Physically Variable Stiffness for Highly Dynamic Legged Locomotion",
   booktitle = "Proceedings of the 2004 International Conference on Robotics and Automation",
   pages = "4662 - 4667",
   month = "May",
   year = "2004",
   volume = "5",
}