2026
Energy-Efficient Design and Motion Control of Leg Mechanisms Using Redundant Drive Systems and Parallel Elasticity
RA-L 2026
This paper examines a planar, two-degree-of-freedom leg utilizing a redundant drive system consisting of mono- and bi-articular motors, and parallel elasticity. Based on the drivetrain energy model, a closed-form redundant torque-allocation solution using a copper loss minimization criterion is deri