2023
Fast, Reliable Constrained Manipulation Using a VSA Driven Planar Robot
ICRA 2023poster
This paper presents the design and performance of a planar 3R robot capable of dexterous constrained manipulation when interacting with a stiff environment. A novel variable stiffness actuator (VSA) having a stiffness ratio of approximately 500 is also described. Variable stiffness actuation, togeth…