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This high level ‘Programmable Spring’ system incorporates everything from the spring damping properties of the joint through to conditional behaviour switching, digital and analogue I/O and serial communications. You can embed multiple behaviour profiles in an actuator and control when they come into action allowing you to construct quite complex behaviour systems. With groups of actuators you can get them to communicate with each other to produce embedded reflex behaviour, for example you can make legs that automatically step when perturbed.
is a central idea and allows the actuator to
behave compliantly. A normal servo
system is designed to be stiff and resist any attempts to move it away
current position but with a force control servo you can make joints
respond dynamically to forces – you can switch off torque in your
making it go completely limp or you can map angles and velocities to
create springs and dampers.
|Last Updated: 12/03/2009