Design Optimisation and Control of Compliant Actuation Arrangements in Articulated Robots for Improved Energy Efficiency

  title={Design Optimisation and Control of Compliant Actuation Arrangements in Articulated Robots for Improved Energy Efficiency},
  author={Wesley Roozing and Zhibin Li and Darwin Gordon Caldwell and Nikolaos G. Tsagarakis},
  journal={IEEE Robotics and Automation Letters},
The development of energy efficient actuation represents one of the biggest challenges in robotics research today. This letter presents the generalisation of design and control concepts for a recently introduced asymmetric compliant actuator, as well as its extension to multi-DoF articulated robotic systems. The actuator design consists of two actuation branches with significantly different stiffness and energy storage capacity properties driving a single joint. The letter studies and presents… 

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