Recent interest in the control of underactuated robots has surged significantly due to the impressive athletic behaviors shown by robots developed by, e.g., Boston Dynamics ( https://www.bostondynamics.com ), Agility Robotics ( https://agilityrobotics.com/robots ), and the Massachusetts Institute of Technology [1] . This gives rise to the need for canonical robotic hardware … [Read more...] about Open Source Dual-Purpose Acrobot and Pendubot Platform: Benchmarking Control Algorithms for Underactuated Robotics
Actuators
Damping in Compliant Actuation: A Review
Compliant actuator technology aims at building robots capable of physically interacting with humans and the environment, matching the versatility and capacity of biological systems. Recently, it underwent a significant evolution with the introduction of damping to improve performance. Such development reflects several aspects, including energy saving and oscillation mitigation. … [Read more...] about Damping in Compliant Actuation: A Review
Benchmarking Torque Control Strategies for a Torsion-Based Series Elastic Actuator
The diversity in torque-controlled actuators has enabled researchers to address numerous physical human–robot interaction applications with enhanced safety, dependability, and interaction capability [1]. Yet, only a few torque-controlled actuators meet the challenging application requirements of mobility, improved torque/mass ratio, and structural integrability. To this end, … [Read more...] about Benchmarking Torque Control Strategies for a Torsion-Based Series Elastic Actuator
