Classical actuators found in the majority of today’s robots are stiff position controlled units for precise trajectory tracking. This work package will focus on the design, realization testing of a new generation of robotic platforms actuated by compliant electromechanical movers. The objectives of this WP are: - Design and realize mechatronic actuation groups with stiffness close to those found in biological systems
- Integrate the developed compliant actuators into a new generation of robotic systems, the humanoid iCub and the quadruped robot Cheetah
- Provide compliance in simulations of iCub, Cheetah
- Develop appropriate joint level control strategies that will allow the effective control of the joint motion and stiffness
- Experimentally evaluate the two robotic platforms and the control strategies developed comparatively to the non-compliant versions
Leading institute: Italian Institute of technology
Contact person: Prof. Darwin Caldwell |  |
