Modeling and Workspace Characterization of Continuously Compliant Robotic Legs
Robin Bendfeld,C. David Remy,Robin Bendfeld,C. David Remy
This work introduces a new design paradigm for robotic legs. Our concept extends upon classical series elastic actuation and directly integrates the series compliance into the structure of the leg. This integration reduces the mechanical design complexity and can potentially reduce the overall weight of the leg. In this paper, we introduce a prototype leg with a continuously compliant shank and de...
