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Showing 1 to 1 of 1 for “"Biarticular Actuation"”.
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Design and Control of a Humanoid Robot, SAFFiR
… body, a biped greatly benefits from the use of biarticular actuation. Improvements in efficiency as much as 30% are possible by simply interconnecting the hip roll and knee pitch joints. Balancing and walking controllers are designed to take advantage of the new hardware capabilities and expand …