Abstract
A hydraulic flexible joint inspired by the actuation system of spiders is investigated in this paper. Its design and characteristics are discussed and a mathematical model is developed to describe its static behaviour. Results of experimental tests are presented to validate its performance. A comparison to other hydraulic actuation systems is performed. The use of the proposed hydraulic flexible joint in adaptive robotic structures is addressed and discussed.
| Translated title of the contribution | A smart hydraulic joint for future implementation in robotic structures |
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| Original language | English |
| Journal | Robotica |
| DOIs | |
| Publication status | Published - 2010 |