Hybrid Parallel Compliance Allows Robots to Operate With Sensorimotor Delays and Low Control Frequencies

Hybrid Parallel Compliance Allows Robots to Operate With Sensorimotor Delays and Low Control Frequencies

Animals locomote robustly and agile, albeit significant sensorimotor delays of their nervous system and the harsh loading conditions resulting from repeated, high-frequent impacts. The engineered sensorimotor control in legged robots is implemented with high control frequencies, often in the kiloher...

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Bibliographic Details
Main Authors: Milad Shafiee Ashtiani, Alborz Aghamaleki Sarvestani, Alexander Badri-Spröwitz
Format: Article
Language:English
Published: Frontiers Media S.A. 2021-06-01
Series:Frontiers in Robotics and AI
Subjects:
legged robots
parallel and passive compliance
hybrid actuation and leg design
sensorimotor delay
Feedback
latency
Online Access:https://www.frontiersin.org/articles/10.3389/frobt.2021.645748/full

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