CAMI - Analysis, Design and Realization of a Force-Compliant Variable Cam System
Dominik Mannhart,Fabio Dubois,Karen Bodie,Victor Klemm,Alessandro Morra,Marco Hutter,Dominik Mannhart,Fabio Dubois,Karen Bodie,Victor Klemm,Alessandro Morra,Marco Hutter
This work presents a novel design concept that achieves multi-legged locomotion using a three-dimensional cam system. A computational framework has been developed to analyze and dimension this cam apparatus, that can perform arbitrary end effector motions within its design constraints. The mechanism enables continuous gait transition and inherent force compliance. With only two motors, any traject...
