Parallel elastic elements improve energy efficiency on the STEPPR bipedal walking robot

This study describes how parallel elastic elements can be used to reduce energy consumption in the electric motor driven, fully-actuated, STEPPR bipedal walking robot without compromising or significantly limiting locomotive behaviors. A physically motivated approach is used to illustrate how select...

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Veröffentlicht in:	IEEE/ASME transactions on mechatronics 2016-11
Hauptverfasser:	Mazumdar, Anirban, Spencer, Steven J., Hobart, Clinton, Salton, Jonathan, Quigley, Morgan, Wu, Tingfan, Bertrand, Sylvain, Pratt, Jerry, Buerger, Stephen P.
Format:	Artikel
Sprache:	eng
Schlagworte:	ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION ENGINEERING
Online-Zugang:	Volltext
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