Damping in Compliant Actuation: A Review
نویسندگان
چکیده
Compliant actuator technology aims at building robots capable of physically interacting with humans and the environment, matching versatility capacity biological systems. Recently, it underwent a significant evolution introduction damping to improve performance. Such development reflects several aspects, including energy saving oscillation mitigation. However, large values tend increase system impedance, worsening robot resilience human safety during impacts. That suggests importance correct tradeoff.
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ژورنال
عنوان ژورنال: IEEE Robotics & Automation Magazine
سال: 2022
ISSN: ['1070-9932', '1558-223X']
DOI: https://doi.org/10.1109/mra.2021.3138388