Development and Control of a Compliant Asymmetric Antagonistic Actuator for Energy Efficient Mobility PROJECT TITLE :Development and Control of a Compliant Asymmetric Antagonistic Actuator for Energy Efficient MobilityABSTRACT:This paper presents the event and management of a novel uneven antagonistic actuation scheme characterised by large energy storage capacity that permits economical execution of motions. The asymmetric design consists of 2 actuation branches that transfer their power to one joint through 2 compliant components with totally different stiffness and storage capability properties. The guideline for choosing the stiffness of each parts is elaborated, given the design parameters and control requirements. We have a tendency to propose a unique management strategy that distributes the hassle required to come up with the motion using the 2 actuation branches of this novel hardware, to drive the prototype joint in an energy efficient manner. As a symptom of concept, a single degree-of-freedom knee-actuated hopping robot is designed for experimental validation. The dynamics of the leg and actuators are rigorously modeled and formulated. The information from simulation and experimental studies demonstrate a vital improvement in electrical energy potency and reduction in torque requirements. Did you like this research project? To get this research project Guidelines, Training and Code... Click Here facebook twitter google+ linkedin stumble pinterest Border gateway protocol graph: detecting and visualising internet routing anomalies