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Variable impedance actuation to increase the behavioural diversity of legged robots

  • Authors: Leach, D.; Maheshwari, N.; Guenther, F.; Iida, F.

A single leg hopping robot has been constructed which includes a clutch in series with the hip motor and a prototype Linear Multi-Modal Actuator (LMMA) at the knee. The single leg will be used to test how the different actuation methods can improve the behavioural diversity of the robot.

Posted on: June 28, 2012