Series or Parallel Elasticity - Which is Better ?
نویسندگان
چکیده
There is broad agreement that elastic elements are similarly useful in legged robotic systems [1] as they are in nature [2]. The two primary ways of incorporating springs in the actuators of legged robots are to place them either in parallel or in series (Fig 1). While both types of actuator have been implemented in robots [3–5], it is still unclear which is the better choice from an energy consumption standpoint.
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