A Second Torque Port for Series Elastic Actuators: Parallel-Integrated Design and Time-Scale Torque Allocation

arXiv:2609.30873 · cs.RO, cs.SY, eess.SY · Submitted 2026-09-25 · Read on arXiv

cs.RO, cs.SY, eess.SY

Submitted: 2026-09-25

Updated: 2026-09-25

Comments: 8 pages, 9 figures, 1 table. Submitted to IEEE Robotics and Automation Letters

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Benchmarking — 1× in this paper · explained in 3 episodes
• Redundancy — 1× in this paper · explained in 2 episodes

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