Haddadin, Sami; Krieger, Kai; Albu-Schäffer, Alin; Lilge, Torsten
(Piscataway, NJ : Institute of Electrical and Electronics Engineers Inc., 2018)
For creating robots that are capable of human-like performance in terms of speed, energetic properties, and robustness, intrinsic compliance is a promising design element. In this paper, we investigate the principle effects ...