Knuckles that buckle: compliant underactuated limbs with joint hysteresis enable minimalist terrestrial robots
Mingsong Jiang,Rongzichen Song,Nick Gravish,Mingsong Jiang,Rongzichen Song,Nick Gravish
Underactuated designs of robot limbs can enable these systems to passively adapt their joint configuration in response to external forces. Passive adaptation and reconfiguration can be extremely beneficial in situations where manipulation or locomotion with complex substrates is required. A common design for underactuated systems often involves a single tendon that actuates multiple rotational joi...
