A closed-form least-squares optimization selects a knee torsion spring's stiffness and equilibrium position, cutting simulated motor energy to under 4% of baseline in the same cyclic task used for fitting.
Variable recruitment of parallel elastic elements: Series-parallel elastic actuators (spea) with dephased mutilated gears,
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Optimizing energy consumption for legged robot by adapting equilibrium position and stiffness of a parallel torsion spring
A closed-form least-squares optimization selects a knee torsion spring's stiffness and equilibrium position, cutting simulated motor energy to under 4% of baseline in the same cyclic task used for fitting.