L. Malagia

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Snake robots can be at the same time efficient tools to answer questions coming from biology on animal locomotion, but also agile machines that are able to efficiently locomote over unstructured terrains and narrow spaces, useful for engineering problems such as search and rescue. Compliance in the snake robot structure could bring many advantages such as(More)
— In this paper a model–free approach for damping control of Variable Stiffness Actuators is proposed. The idea is to take advantage of the possibility to change the stiffness of the actuators in controlling the damping. The problem of minimizing the terminal energy for a one degree of freedom spring-mass model with controlled stiffness is first considered.(More)
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