Flywheel-based 2 DOF robotic actuator design for generating harmonic motions

To improve the dynamical effect of robotic motion, this paper is focused on the efficient usage of storing angular momentum. With the pair of two actuators, we proposed a flywheel-based actuator in which angular momentum is stored for high-torque generation and various types of harmonic patterns are controlled. The kinematic design and the control issues are introduced and the experimental results are discussed.