2 search results - page 1 / 1 » Geometric Characteristics of Antagonistic Stiffness in Redun... |
ICRA
1993
IEEE
13 years 8 months ago
1993
IEEE
Parallel closed-chainmechanical architectures allow for redundant actuation in the force domain. Antagonistic actuation, afforded by this input force redundancy, in conjunction wi...
ICRA
2007
IEEE
13 years 11 months ago
2007
IEEE
— In this paper, the dynamic model of a robot with antagonistic actuated joints is presented, and the problem of full linearization via static state feedback is analyzed. The use...