MACCEPA: the Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator used in the ‘Controlled Passive Walking’ biped Veronica

In this paper a novel rotational actuator with adaptable compliance is presented. First the importance of adaptable compliance for bipedal walking is explained, and then a number of comparable designs are given with their possible drawbacks. The MACCEPA concept and design is described in detail. The formula to calculate the generated torque is derived. It is shown, depending on the design parameters, that the torque is a quasi linear function with respect to the angle between equilibrium position and actual position. Also the change of the pre-tension has a quasi linear effect on the torque. Another advantage is that the actuator can be built with standard components, e.g. electrical servo motors. Experiments show the independent control of equilibrium position and compliance. Finally the concept of Controlled Passive Walking is explained, which is a combination of the control strategies of active and passive walking robots. Controlled Passive Walking requires actuators with adaptable compliance, preferably where the control of equilibrium position and compliance are independent.