Exploiting Natural Dynamics to Reduce Energy Consumption by Controlling the Compliance of Soft Actuators
- 1 April 2006
- journal article
- Published by SAGE Publications in The International Journal of Robotics Research
- Vol. 25 (4), 343-358
- https://doi.org/10.1177/0278364906064566
Abstract
Exploiting natural dynamics for bipedal locomotion, or passive walking, is gaining interest because of its energy efficiency. However, the natural trajectories of a passive walker are fixed during the design, thus limiting its mobility. A possible solution to this problem is creating a “semi-passive walker” equipped with actuators with adaptable compliance, which allows the natural dynamics to be changed according to the situation.Keywords
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