SOURCE-LINKED INTELLIGENCE
A Dual-Cam Parallel Elastic Actuator with Shared Gas-Spring Compensation for Humanoid Ankles
To improve torque capacity and energy efficiency of humanoid ankles, this paper proposes a 2-DoF parallel elastic actuator (PEA). The main novelty of the proposed design lies in its dual-cam, single-gas-spring architecture, which enables torque compensation in both pitch and roll using a shared elastic element, thereby improving structural compactness compared with conventional multi-element compensation schemes. By leveraging parallel gas springs and customized cam modules, the proposed architecture provides dual-axis torque assistance tailored to specific task requirements. The second key co
Read original source ↗ Open in workspace
- recordType
- paper
- region
- Global
Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-08-31T14:06:21.000Z
First collected: 2026-09-21T06:41:57.136Z. This is not the publication date.