2009). The problem with adjustable compliances is that the mechanical complexity still needs to be solved. Furthermore, two coupled motors, which are used to control the joint position and the stiffness of a single joint, add extra weight, space, and costs. This means that the humanoid robot will require at least twice as many motors and controllers than normal. Currently no full-sized adjustable compliant humanoid robot has been realized with similar capability than the more classical approach.
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