Optimally Controlling the Timing of Energy Transfer in Elastic Joints: Experimental Validation of the Bi-Stiffness Actuation Concept

no code implementations • 14 Sep 2023 • Edmundo Pozo Fortunić, Mehmet C. Yildirim, Dennis Ossadnik, Abdalla Swikir, Saeed Abdolshah, Sami Haddadin

Furthermore, we demonstrate that providing full control authority over the energy transfer timing and link decoupling allows the user to synchronously release both elastic joint and gravitational energy.