DocumentCode :
2551075
Title :
A nonlinear series elastic actuator for highly dynamic motions
Author :
Thorson, Ivar ; Caldwell, Darwin
Author_Institution :
Istituto Italiano di Tecnologia, Department of Advanced Robotics, Italy
fYear :
2011
fDate :
25-30 Sept. 2011
Firstpage :
390
Lastpage :
394
Abstract :
A novel revolute nonlinear series elastic actuator called the HypoSEA is presented. The actuator uses a hypocycloid mechanism to stretch a linear spring in a nonlinear way. The actuator is optimized for highly dynamic tasks such as running and jumping, as it features a 120Nm torque capability and more than 30J of passive energy storage. When combined with a suitable controller, using the spring as an energy buffer can greatly reduce the work done by the rotor during periodic motions. The design has exceptionally low reflected mechanical impedance, making it robust against repeated impact loads. The nonlinear stiffening spring is optimized for the nonlinearities typically found in revolute-jointed hopping robots, and may be adjusted offline using a pretensioning mechanism. Finally, the low effective stiffness around the zero-torque equilibrium allows for extremely sensitive force control.
Keywords :
Actuators; Gears; Knee; Robots; Rotors; Springs; Torque;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on
Conference_Location :
San Francisco, CA
ISSN :
2153-0858
Print_ISBN :
978-1-61284-454-1
Type :
conf
DOI :
10.1109/IROS.2011.6094913
Filename :
6094913
Link To Document :
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