BSA - Bi-Stiffness Actuation for optimally exploiting intrinsic compliance and inertial coupling effects in elastic joint robots
Dennis Ossadnik,Mehmet C. Yildirim,Fan Wu,Abdalla Swikir,Hugo T. M. Kussaba,Saeed Abdolshah,Sami Haddadin,Dennis Ossadnik,Mehmet C. Yildirim,Fan Wu,Abdalla Swikir,Hugo T. M. Kussaba,Saeed Abdolshah,Sami Haddadin
Compliance in actuation has been exploited to generate highly dynamic maneuvers such as throwing that take advantage of the potential energy stored in joint springs. However, the energy storage and release could not be well-timed yet. On the contrary, for multi-link systems, the natural system dynamics might even work against the actual goal. With the introduction of variable stiffness actuators, ...
