Name
Abstract | ||
|---|---|---|
Running is a complex dynamic task that places strict requirements on both the physical components and software-control systems of a robot. This paper explores some of those requirements and, in particular, explores how a variable-compliance actuation system can satisfy many of them. We present the mechanical design and software-control system for such an actuator system. We analyze its performance through simulation and bench-top experimental validation of a prototype version. In conclusion, we demonstrate, through simulation, the application of our proof-of-concept aduator to the problem of biped running. |
Year | DOI | Venue |
|---|---|---|
2010 | 10.1109/TRO.2010.2052398 | IEEE Transactions on Robotics |
Keywords | Field | DocType |
software-control system,actuator system,variable-compliance actuation system,bench-top experimental validation,complex dynamic task,mechanical design,physical component,proof-of-concept aduator,prototype version,strict requirement,adjustable series compliance | Mechanical design,Manufacturing,Control theory,Control engineering,Artificial intelligence,Robotics,Software development,Simulation,Software architecture,Component-based software engineering,Engineering,Robot,Actuator | Journal |
Volume | Issue | ISSN |
26 | 4 | 1552-3098 |
Citations | PageRank | References |
2 | 1.23 | 5 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jonathan W. Hurst | 1 | 175 | 21.38 |
| Joel E. Chestnutt | 2 | 218 | 14.78 |
| Alfred A. Rizzi | 3 | 1208 | 179.03 |