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In recent years, the development of legged locomotion robots that can achieve both efficiency and versatility has been one of the most important challenges in robotics research. In general, fully actuated systems that can achieve many variations of behaviors show comparatively low energy efficiency, while it is extremely difficult to enrich the behavioral diversity of passivity-based systems that...
Compliant actuation contributes enormously in legged locomotion robotics since it is able to alleviate control efforts in improving the robot's adaptability and energy efficiency. In this paper, we present a novel design of a variable stiffness rotary actuator, called MESTRAN, which was especially targeted to address the limitations in terms of the amount of energy and time required to vary the stiffness...
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