2021
Design of Non-Circular Pulleys for Torque Generation: A Convex Optimisation Approach
Daniele Ludovico, Paolo Guardiani, Francesco Lasagni, Jinoh Lee, Ferdinando Cannella, Darwin G. Caldwell
RA-L 2021
Nowadays, robotic research focuses more and more on attaining energy-efficient and safe solutions. They are key-aspects of industrial robots, such as inspection and maintenance robots. The introduction of a mechanism that passively compensates the joint torque caused by the weight of the robot may o