dSEDA: a Differential Series Elastic Damped Actuator
Simone Monteleone,Francesca Negrello,Giorgio Grioli,Manuel G. Catalano,Simone Monteleone,Francesca Negrello,Giorgio Grioli,Manuel G. Catalano
Compliant actuation bestows robots with the ability to cope with unstructured environments, move with agility, and interact safely with humans at the expense of reduced tracking accuracy. The inclusion of dampening components aims to reduce oscillatory dynamics and partially restore precision without sacrificing the previously obtained characteristics. This paper introduces the concept and design ...
