Jonathan Hurst, Joel Chestnutt, Al Rizzi
This actuator is designed for use in a highly dynamic legged robot. It has fiberglass springs with a large energy storage capacity. The mechanism has two motors, one for moving the position of the knee and the other for controlling the stiffness felt at the knee. These two parameters, along with the hip angle, are used for control of a running gait.
MoviesChanging the stiffness of the AMASC 7.5MB
Zero stiffness (zero force) 5.8MB
- "An Actuator with Physically Variable Stiffness for Highly Dynamic Legged Locomotion" J.W. Hurst, J. Chestnutt, and A. Rizzi Proceedings of the 2004 International Conference on Robotics and Automation, May, 2004.
- "An Actuator with Mechanically Adjustable Series Compliance" J.W. Hurst, J. Chestnutt, and A. Rizzi tech. report CMU-RI-TR-04-24, Robotics Institute, Carnegie Mellon University, April, 2004.