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INTEGRATED, PROPORTIONALLY CONTROLLED, AND NATURALLY COMPLIANT UNIVERSAL JOINT ACTUATOR WITH CONTROLLABLE STIFFNESS
INTEGRATED, PROPORTIONALLY CONTROLLED, AND NATURALLY COMPLIANT UNIVERSAL JOINT ACTUATOR WITH CONTROLLABLE STIFFNESS
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机译:具有可控刚度的集成,比例控制和自然顺应的通用关节执行器
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摘要
An apparatus for traversing obstacles having an elongated, round, flexible body that includes a plurality of segments interconnected by an integrated joint actuator assembly. The integrated joint actuator assembly includes a plurality of bellows-type actuators individually coupling adjacent segments to permit pivotal actuation of the apparatus therebetween. A controller is employed to maintain proper positional control and stiffness control while minimize air flow.
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