MACCEPA: the Actuator with Adaptable Compliance for Dynamic Walking Bipeds
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چکیده
Walking robots can be divided into two categories: on one hand the fully actuated robots that don’t use passive dynamics, and on the other hand the energy efficient passive walkers. For autonomous robots the energy storage is a problem, forecasting a bright future for passive walkers. At this moment the passive walkers are restricted to one walking speed due to the eigenfrequency, which is fixed by the mechanical constructions. Several actuators with adaptable compliant have been designed, but due to size, complexity or controllability these are difficult to implement in
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تاریخ انتشار 2005