IEEE - Institute of Electrical and Electronics Engineers, Inc. - A Hopping Robot Driven by a Series Elastic Dual-Motor Actuator

Author(s): Tom Verstraten ; Raphael Furnémont ; Philipp Beckerle ; Bram Vanderborght ; Dirk Lefeber
Sponsor(s): RAS
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 July 2019
Volume: 4
Page(s): 2,310 - 2,316
ISSN (CD): 2377-3774
ISSN (Electronic): 2377-3766
DOI: 10.1109/LRA.2019.2902071
Regular:

In this letter, we present the kinematically redundant series elastic dual-motor actuator (SEDMA). It consists of two motors, coupled to a series spring through a planetary differential. The... View More

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