Speed Gain in Elastic Joint Robots: An Energy Conversion-Based Approach

Like humans or animals, robots with compliant joints are capable of performing explosive or cyclic motions by making systematic use of energy storage and release, and it has been shown that they can outperform their rigid counterparts in terms of peak velocity. For rigid joint robots, there exist well-established, computationally inexpensive tools to compute the maximum achievable Cartesian endpoi...