Energetics of passivity-based running with high-compliance series elastic actuation
نویسندگان
چکیده
منابع مشابه
Configurable Compliance for Series Elastic Actuators
Variable compliance has been a growing topic of interest in legged robotics due to recent studies showing that animals adjust their leg and joint stiffness to adjust their natural dynamics and to accommodate changes in their environment. However, existing designs add significant weight, size, and complexity. Series Elastic Actuators, on the other hand, are designed with a set stiffness usually ...
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Rehabilitation of the upper extremities, especially the hands, is critical for the restoration of independence in activities of daily living for individuals suffering from hand disabilities. There are currently two major challenges in developing robotic devices for hand rehabilitation: (1) design of a device that is compatible with the complex geometry and nonlinear biomechanics of the human ha...
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Traditional stiff actuators have a high reflected inertia, which do not meet the safety requirements, are bad to absorb shocks and cannot store and release energy which are for different applications required. Initiated by the introduction of the Series Elastic Actuator (SEA) by Gill A. Pratt in 1995, a wide range of Variable Impedance Actuators (VIA) are developed, for which inspiration was fo...
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The legs of a future generation of hexapedal robots should enable highly articulated walking as well as robust running within the same platform. Following a hypothesis from biology [2], robustness and stability of walking mainly result from feedback control while being anchored in selfstabilizing properties of the feedforward driven mechanical structure in case of running. The advantage of this...
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An articulated leg for the use in a running robot is presented. It is driven by series elastic actuation with a highly compliant spring at the knee joint to exploit periodic energy storage and passively support a running motion. The spring is connected with the knee motor by a cable pulley system, which allows the advantageous placement of the motor in the hip joint and enables us to use a comp...
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ژورنال
عنوان ژورنال: International Journal of Mechatronics and Manufacturing Systems
سال: 2012
ISSN: 1753-1039,1753-1047
DOI: 10.1504/ijmms.2012.046526