@article {Hirose:1 June 2001:0169-1864:125,
	author = "Hirose, Shigeo",
	author = "Arikawa, Keisuke",
	title = "Coupled and decoupled actuation of robotic mechanisms",
	journal = "Advanced Robotics",
	volume = "15",
	year = "1 June 2001",
	abstract = "In this paper, we describe two types of seemingly opposing design and control concepts for the realization of a high performance robotic system. One of them is the <I>coupled drive</I>. It is a design and control strategy to maximize the output power of the robotic system by actively coupling the drive of installed actuators. We show two design examples of the <I>coupled drive</I> - design of a leg mechanism and gait control of the wall-climbing robot NINJA-II, and design of a multi-degrees-offreedom manipulator CT-Arm. Another is the <I>gravitationally decoupled actuation</I> (GDA). This is a design and control strategy to maximize energy efficiency of a robotic system by means of decoupled drive of the installed actuators. We show two design examples based on the GDA - design of leg mechanism and control of quadruped walking robots. In the final part of the paper, we discuss a methodology to merge the two above-mentioned seemingly contradictory design methods and apply the merged concept to posture control of a walking robot on a three-dimensional terrain.",
	pages = "125-138(14)",
	url = "http://www.ingentaconnect.com/content/vsp/arb/2001/00000015/00000002/art00003"
	doi = "doi:10.1163/15685530152116191"
}