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In this paper a novel concept of embedded robotic actuator is presented which has been named the very versatile energy efficient (V2E2) actuator. This actuator stores energy during any force profile which generates negative work on the load and it does therefore have unprecedented potentials for robotics applications.
This paper describes the design and construction of Dribbel, a passivity-based walking robot. Dribbel has been designed and built at the Control Engineering group of the University of Twente. This paper focuses on the practical side: the design approach, construction, electronics, and software design. After a short introduction of dynamic walking, the design process, starting with simulation, is discussed
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