Dual-Motor Actuators

Brubotics VUB paper, IEEE Robotics and Automation Letters(2022): A Methodology for Designing a Lightweight and Energy-Efficient Kinematically Redundant Actuator [Paper]
KAIST, Actuator Design: DRPD, Dual Reduction Ratio Planetary Drive for Articulated Robot Actuators, IROS 2022 [Paper]
Dual Motor Design (2021): Explosive Electric Actuator and Control for Legged Robots [Paper]
John Harry Bell, Master’s Thesis, MIT (2018): A Two-Motor Actuator for Legged Robotics Applications [Thesis]
Robotics and Multibody Mechanics Research Group (R&MM), Belgium (2017): Modeling and design of an energy-efficient dual-motor actuation unit with a planetary differential and holding brakes [Paper]
Leveraging Natural Load Dynamics With Variable Gear-Ratio Actuators, IEEE Robotics and Automation Letters, vol. 2, no. 2, pp. 741-748, April 2017. [Paper][Video]
An Ultra-Compact Infinitely Variable Transmission for Robotics, ICRA 2017.[Paper]
A practical optimal control approach for two-speed actuators, ICRA 2016. [Paper][Video]
+SPEA introduction: drastic actuator energy requirement reduction by symbiosis of parallel motors, springs and locking mechanisms, ICRA 2016 [Paper]
Alexandre Girard’s paper, Hamburg, Germany IROS(2015): A Two-Speed Actuator for Robotics with Fast Seamless Gear Shifting [Paper]
A Dual-Motor Robot Joint Mechanism with Epicyclic Gear Train, IROS 2014 [Paper]
Hoyul Lee’s Paper, ASME/IEEE Transactions on mechatronics(2012): A New Actuator System Using Dual-Motors and a Planetary Gear [Paper]
Jung Jun Park’ paper, ASME/IEEE Transactions on mechatronics(2010): A Serial-Type Dual Actuator Unit With Planetary Gear Train: Basic Design and Applications [Paper]
Double Actuator Unit with Planetary Gear Train for a Safe Manipulator, ICRA 2007. [Paper]
Improved Manipulation Efficiency Using a Serial-type Dual Actuator Unit, 2007. [Paper]