Reducing the Energy Consumption of Robots Using the Bidirectional Clutched Parallel Elastic Actuator

@article{Plooij2016ReducingTE,
  title={Reducing the Energy Consumption of Robots Using the Bidirectional Clutched Parallel Elastic Actuator},
  author={Michiel Plooij and Martijn Wisse and Heike Vallery},
  journal={IEEE Transactions on Robotics},
  year={2016},
  volume={32},
  pages={1512-1523}
}
Parallel elastic actuators (PEAs) have shown the abilto reduce the energy consumption of robots. However, regular PEAs do not allow us to freely choose at which instant or configuration to store or release energy. This paper introduces the concept and design of the bidirectional clutched parallel elastic actuator (BIC-PEA), which reduces the energy consumption of robots by loading and unloading a parallel spring with controlled timing and direction. The concept of the BIC-PEA consists of a… CONTINUE READING
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