Abstract
How the actuation provides energy to the body governs resultant locomotion. This chapter describes actuation in legged locomotion, both in natural and artificial, for understanding how the muscle-like actuation is advantageous. It begins with understanding mechanism of the natural biological muscles, which is energy-efficient, effective, and redundant. Then, the joint stiffness and compliance by electric motors is carefully investigated. Finally, artificial muscles in current Robotics are described to mimic properties of natural muscles.
Full Text 
Sign-in/Register to access full text options
Sign-in/Register to access full text options 
Published version (
Free)
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
