Mechanical design and force control algorithm for a robot leg with hydraulic series-elastic actuators
This article presents a mechanical design structure for hydraulic actuators using the principle of series-elastic actuator, considering the restriction of mechanical structure, weight and size, as well as the requirement of high joint torques due to the large payload. An articulated leg was designed...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2020-05-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/1729881420921015 |