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smart actuator

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A smart hydraulic joint for future implementation in robotic structures
J. Berring, K. Kianfar, C. Lira, C. Menon, F. Scarpa
Journal:

Robotica / Volume 28 / Issue 7 / December 2010

Published online by Cambridge University Press:

18 January 2010, pp. 1045-1056
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A hydraulic flexible joint inspired by the actuation system of spiders is investigated in this paper. Its design and characteristics are discussed and a mathematical model is developed to describe its static behaviour. Results of experimental tests are presented to validate its performance. A comparison to other hydraulic actuation systems is performed. The use of the proposed hydraulic flexible joint in adaptive robotic structures is addressed and discussed.