Design, analysis, and control of a low power joint for walking robots, by phasic activation of McKibben muscles

@article{Linde1999DesignAA,
  title={Design, analysis, and control of a low power joint for walking robots, by phasic activation of McKibben muscles},
  author={Richard Quint van der Linde},
  journal={IEEE Trans. Robotics and Automation},
  year={1999},
  volume={15},
  pages={599-604}
}
This paper describes the development of an efficient mechanical oscillator. It is capable of combining the energetic advantages of ballistic movement with cycle adjustability and active orbital control. Pneumatic artificial McKibben muscles are used as variable springs, from which the stiffness is varied in order to induce a limit cycle. 
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