3 accepted papers
In biomechanics and robotics, elasticity plays a crucial role in enhancing locomotion efficiency and stability. Traditional approaches in legged robots often employ series elastic actuators (SEA) with discrete rigid components, which, while effective, add weight and complexity. This paper presents a
This paper presents a novel robotic leg design and an associated control approach, which aims at providing an extension to the classical series elastic actuation concept. We propose to directly integrate the series compliance into the structure of the robotic leg itself, as opposed to co-locating sp…
This work introduces a new design paradigm for robotic legs. Our concept extends upon classical series elastic actuation and directly integrates the series compliance into the structure of the leg. This integration reduces the mechanical design complexity and can potentially reduce the overall weigh…