A Comparison of Series and Parallel Elasticity in a Monoped Hopper

Описание к видео A Comparison of Series and Parallel Elasticity in a Monoped Hopper

In this project, Series Elastic Actuation (where the motor moves the location of the top of the spring) and Parallel Elastic Actuation (where the motor contract the entire leg length) are compared by looking at energetically optimal parameters and trajectories.

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