2019
A Floating-Piston Hydrostatic Linear Actuator and Remote-Direct-Drive 2-DOF Gripper
ICRA 2019poster
Dexterous, serial-chain motor-driven robotic arms have high moving mass, since most of the actuators must be located in the arm itself. This necessitates high gear ratios, sacrificing passive compliance, backdrivability, and the capacity for delicate motion. We introduce the concept of a remote dire…