2 search results - page 1 / 1 » Geometric Characteristics of Antagonistic Stiffness in Redun... |
ICRA
1993
IEEE
13 years 11 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
14 years 1 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...