2023
Optimization of Mono- and Bi-Articular Parallel Elastic Elements for a Robotic Arm Performing a Pick-and-Place Task
RA-L 2023
Actuation concepts such as Series Elastic Actuation (SEA), Parallel Elastic Actuation (PEA), and Biarticular Actuation (BA), which introduce elastic elements into the structure, have the potential to reduce the electrical energy consumption of a robot. This letter presents an optimization of the arr