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It has been a challenge to design humanoid robots that possess intrinsic compliant actuation, especially for robots that are required to be manipulated multidimensionally. Adapting from human limbs, robotic manipulators with internal mechanical compliance can perform high-quality force/torque control and more safely interact with humans. This paper presents a humanoid robotic wrist whose size, range-of-motion,...
Coupled sections with periodic corrugation are designed to realize a parallel-coupled line filter a wide upper stopband. The stopband characteristics of the corrugated section are investigated by changing its geometric parameters. Then, corrugated sections with various rejection bands are cascaded to achieve the wide upper stopband. Measured responses of a tested third-order circuit show that the...
Planar bandpass filters are contrived with a very sharp transition band and wide stopband based on multimode stepped-impedance resonators (SIRs). The SIR is tapped with two open stubs at its center and two more stubs at the junctions of the low- and high-impedance sections. By properly trimming the stub lengths, the leading five resonances of the SIR have a close proximity and constitute the passband...
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