Novel nonlinear elastic actuators for passively controlling robotic joint compliance

Journal of Mechanical Design

Volumn 129, Issue 4, 2007, Pages 406-412

  Migliore, Shane A ^a   Brown, Edgar A ^a   DeWeerth, Stephen P ^a  

^a GEORGIA INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

Antagonistic actuation; FPGA; Nonlinear springs; Series elastic actuation

Indexed keywords

ACTUATORS; ALGORITHMS; DYNAMICS; ELASTICITY; SPRINGS (COMPONENTS); UNIVERSAL JOINTS;

ANTAGONISTIC ACTUATION; NONLINEAR ELASTIC ACTUATORS; NONLINEAR SPRINGS; ROBOTIC JOINTS; ROBOTIC MECHANISMS; SERIES-ELASTIC ACTUATION;

ROBOTICS;

EID: 34248349943     PISSN: 10500472     EISSN: None     Source Type: Journal    
DOI: 10.1115/1.2429699     Document Type: Article

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