High Compliant Series Elastic Actuation for the Robotic Leg ScarlETH
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: On the hardware level, we are proposing and testing a bio-inspired quadruped robot design (Oncilla robot), based on light-weight, compliant, and three-segmented legs. Our choice of placing the compliance such that it is spanning two joints enforces a non ...
Legged robots have gained an increased attention these past decades since they offer a promising technology for many applications in unstructured environments where the use of wheeled robots is clearly limited. Such applications include exploration and res ...
An Implantable delivery device comprising at least a body (1), an inlet (2 17 46) and an outlet (3 18 47) and actuating means, wherein the actuating means comprise at least an actuator displacing a piston (6 21 32) in a rotating cylinder (4 19 31) forming ...
A single leg hopping robot has been constructed which includes a clutch in series with the hip motor and a prototype Linear Multi-Modal Actuator (LMMA) at the knee. The single leg will be used to test how the different actuation methods can improve the beh ...
Behavioral performances of our legged robots are still far behind those of biological systems. Energy efficiency and locomotion velocity of our robots, for example, are orders of magnitude lower than those of animals, and in order to fill the gap, it requi ...
In this contribution we introduce novel dynamics model based on existing dynamics modeling approaches that allow detailed studies on the role of a compliant spine in quadruped locomotion. We use this model to address our key questions on locomotion control ...