Combining series elastic actuation and magneto-rheological damping for the control of agile locomotion

  title={Combining series elastic actuation and magneto-rheological damping for the control of agile locomotion},
  author={Elena Garcia and Juan Carlos Arevalo and Gustavo Mu{\~n}oz and Pablo Gonz{\'a}lez de Santos},
  journal={Robotics and Autonomous Systems},
All-terrain robot locomotion is an active topic of research. Search and rescue maneuvers and exploratory missions could benefit from robots with the abilities of real animals. However, technological barriers exist to ultimately achieving the actuation system, which is able to meet the exigent requirements of these robots. This paper describes the locomotion control of a leg prototype, designed and developed to make a quadruped walk dynamically while exhibiting compliant interaction with the… CONTINUE READING


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