IEEE - Institute of Electrical and Electronics Engineers, Inc. - Optimal control for maximizing velocity of the CompActâ„¢ compliant actuator

2013 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Lisha Chen ; Manolo Garabini ; Matteo Laffranchi ; Navvab Kashiri ; Nikos G. Tsagarakis ; Antonio Bicchi ; Darwin G. Caldwell
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2013
Conference Location: Karlsruhe, Germany
Conference Date: 6 May 2013
Page(s): 516 - 522
ISBN (Electronic): 978-1-4673-5643-5
ISBN (Paper): 978-1-4673-5641-1
ISSN (Paper): 1050-4729
DOI: 10.1109/ICRA.2013.6630623
Regular:

The CompAct™ actuator features a clutch mechanism placed in parallel with its passive series elastic transmission element and can therefore benefit from the advantages of both series elastic... View More

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