Integrated, proportionally controlled, and naturally compliant universal joint actuator with controllable stiffness
J Borenstein, G Granosik - 2005 - osti.gov
2005•osti.gov
An apparatus for traversing obstacles having an elongated, round, flexible body that
includes a plurality of segments interconnected by an integrated joint actuator assembly.
The integrated joint actuator assembly includes a plurality of bellows-type actuators
individually coupling adjacent segments to permit pivotal actuation of the apparatus
therebetween. A controller is employed to maintain proper positional control and stiffness
control while minimize air flow.
includes a plurality of segments interconnected by an integrated joint actuator assembly.
The integrated joint actuator assembly includes a plurality of bellows-type actuators
individually coupling adjacent segments to permit pivotal actuation of the apparatus
therebetween. A controller is employed to maintain proper positional control and stiffness
control while minimize air flow.
An apparatus for traversing obstacles having an elongated, round, flexible body that includes a plurality of segments interconnected by an integrated joint actuator assembly. The integrated joint actuator assembly includes a plurality of bellows-type actuators individually coupling adjacent segments to permit pivotal actuation of the apparatus therebetween. A controller is employed to maintain proper positional control and stiffness control while minimize air flow.
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