Antagonistic and series elastic actuators: a comparative analysis on the energy consumption

Abstract

Recent investigations show that compliant systems can be more safe and energy-efficient than conventional stiff actuated systems. As a result, researchers are increasingly implementing compliance within actuation systems using a variety of mechanisms. In general, these actuators can be grouped in 2 main categories. The first category includes all the… (More)
DOI: 10.1109/IROS.2009.5354349

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Cite this paper

@article{Laffranchi2009AntagonisticAS, title={Antagonistic and series elastic actuators: a comparative analysis on the energy consumption}, author={Matteo Laffranchi and Nikolaos G. Tsagarakis and Ferdinando Cannella and Darwin G. Caldwell}, journal={2009 IEEE/RSJ International Conference on Intelligent Robots and Systems}, year={2009}, pages={5678-5684} }