The dynamic effect of mechanical losses of transmissions on the equation of motion of legged robots
Youngwoo Sim,Joao Ramos,Youngwoo Sim,Joao Ramos
Industrial manipulators do not collapse under their own weight when powered off due to the friction in their joints. Although these mechanism are effective for stiff position control of pick-and-place, they are inappropriate for legged robots that must rapidly regulate compliant interactions with the environment. However, no metric exists to quantify the robot’s performance degradation due to mech...
