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Developing a high physical performance robotic manipulation platform with considerable power density, strength and resilience is not a trivial task and frequently leads to heavy and bulky systems unable to meet the application requirements, i.e. such robots should have human body size compatibility to work in infrastructures designed for humans. In this work we present a new high performance human...
This work focuses on the modeling and control of robotic manipulators powered by compliant actuation systems equipped with clutches for providing friction torque on demand. A novel control scheme is proposed for modulating the clutch friction torque in this particular class of compliant actuators to make the robot operate in “Rigid mode” when it does not interact with the environment to achieve high...
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