| Popis: |
Compared to biological muscles, current technical actuators are limited in their performance and versatility to realize human-like locomotion. In order to overcome the actuator limitations for locomotion, we introduce the hybrid EPA actuator as a combination of electric and pneumatic actuators in this chapter. As a new variable impedance actuator, the EPA design provides direct access to the control and morphological properties. We demonstrate that with the EPA, the actuator limitations could be clearly reduced in vertical hopping. |
