Evaluating the Efficacy of Parallel Elastic Actuators on High-Speed, Variable Stiffness Running
John V. Nicholson,Sean Gart,Jason Pusey,Jonathan E. Clark,John V. Nicholson,Sean Gart,Jason Pusey,Jonathan E. Clark
Although they take many forms, legged robots rely upon springs to achieve high speed, dynamic locomotion. In this paper we examine the effect of adding parallel springs to robots that rely on virtual compliance. Specifically, we consider the trade-off between energetic efficiency and leg versatility that comes while using Parallel Elastic Actuators (PEAs). To do this, we vary the ratio of physical...
