The paper describes a variable stiffness actuated joint based on two counter-acting actuators that operate on two elastic elements purposely designed in order to exhibit a non-linear elastic characteristic.
Design and control of variable stiffness actuation systems / G. Palli; C. Melchiorri; G. Berselli; G. Vassura. - ELETTRONICO. - (2010). (Intervento presentato al convegno Workshop on Variable Impedance Actuators, IEEE ICRA2010, International Conference on Robotics and Automation tenutosi a Anchorage, AK, USA nel May 3-8, 2010).
Design and control of variable stiffness actuation systems
PALLI, GIANLUCA;MELCHIORRI, CLAUDIO;BERSELLI, GIOVANNI;VASSURA, GABRIELE
2010
Abstract
The paper describes a variable stiffness actuated joint based on two counter-acting actuators that operate on two elastic elements purposely designed in order to exhibit a non-linear elastic characteristic.File in questo prodotto:
Eventuali allegati, non sono esposti
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.