A smart hydraulic joint for future implementation in robotic structures

Berring J, Kianfar K, Menon C, C Lira, FL Scarpa

Research output: Contribution to journalArticle (Academic Journal)peer-review

21 Citations (Scopus)

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 contributionA smart hydraulic joint for future implementation in robotic structures
Original languageEnglish
JournalRobotica
DOIs
Publication statusPublished - 2010

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