Abstract
Recently, variable stiffness actuators (VSAs) have been considered as actuation approaches to improve energy efficiency of legged locomotion robots. In this paper, we present the design and implementation of a variable stiffness actuator, named L-MESTRAN, which allows for improving energy efficiency of a planar single-legged robot over different stride frequencies. The leg in our setup consists of an actuated hip joint and a passive knee joint equipped with the L-MESTRAN. This mechanism is capable of varying stiffness in a large range, maintaining stiffness with almost no energy, and offers a linear joint stiffness. We empirically demonstrate that the L-MESTRAN actuator can increase energy efficiency for hopping locomotion for various stride frequencies. Furthermore, we also demonstrate the capability of the L-MESTRAN to adjust stiffness to improve energy efficiency during locomotion.
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