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An efficient leg with series-parallel and biarticular compliant actuation: design optimization, modeling, and control of the eLeg.
Wesley Roozing
Zeyu Ren
Nikos G. Tsagarakis
Published in:
Int. J. Robotics Res. (2021)
Keyphrases
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series parallel
disturbance rejection
control strategy
temporal reasoning
control system
biped robot
upper bound
limit cycle
quadruped robot
evolutionary algorithm
network design
precedence constraints
inverted pendulum