On controllable stiffness bipedal walking
Impact at each leg transition is one of the main causes of energy dissipation in most of the current bipedal walking robots. Minimizing impact can reduce the energy loss. Instead of controlling the joint angle profiles to reduce the impact which requires significant amount of energy, installing e...
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| Language: | en_US |
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2008
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| Online Access: | http://hdl.handle.net/1993/3040 |