Contact Force Control with Continuously Compliant Robotic Legs
Robin Bendfeld,C. David Remy,Robin Bendfeld,C. David Remy
This paper presents a novel robotic leg design and an associated control approach, which aims at providing an extension to the classical series elastic actuation concept. We propose to directly integrate the series compliance into the structure of the robotic leg itself, as opposed to co-locating spring and motor as done in traditional series elastic actuators. Our approach will eliminate mechanic...
