RESONANCE NONLINEAR DUAL ACTUATOR FOR WALKING ROBOTS

This paper introduces a special actuator that is characterized by presenting both a dual nonlinear transmission ratio and resonance properties. The peculiar features of this actuator make it suitable for numerous applications, but its application in walking robots is one of the most interesting cases. Results of design and simulations are presented. It is demonstrated that the use of this drive allows a considerable increasing of robot's effectiveness.