An asymmetric compliant antagonistic joint design for high performance mobility

Tsagarakis, Nikos G.; Morfey, Stephen; Dallali, Houman; Medrano-Cerda, Gustavo A.; Caldwell, Darwin G.

doi:10.1109/iros.2013.6697155

Cited by 37 publications

(21 citation statements)

References 16 publications

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“…IV the specifications of the lower-body actuators are reported. Details of the actuator design and its principles can be found in [21][22] [15]. More details about the joint stiffness selection method can be found in [23].…”

Section: B Actuators Specificationsmentioning

confidence: 99%

WALK-MAN humanoid lower body design optimization for enhanced physical performance

Negrello

Garabini

Catalano

et al. 2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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The deployment of robots to assist in environments hostile for humans during emergency scenarios require robots to demonstrate enhanced physical performance, that includes adequate power, adaptability and robustness to physical interactions and efficient operation. This work presents the design and development of the lower body of the new high performance humanoid WALK-MAN, a robot developed recently to assist in disaster response scenarios. The paper introduces the details of the WALK-MAN lower-body, highlighting the innovative design optimization features considered to maximize the leg performance. Starting from the general lower body specifications the objectives of the design and how they were addressed are introduced, including the selection of the leg kinematics, the arrangement of the actuators and their integration with the leg structure to maximize the range of motion, reduce the leg mass and inertia, and shape the leg mass distribution for better dynamic performance. Physical robustness is ensured with the integration of elastic transmission and impact energy absorbing covers. Experimental walking trials demonstrate the correct operation of the legs while executing a walking gait

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Section: B Actuators Specificationsmentioning

confidence: 99%

WALK-MAN humanoid lower body design optimization for enhanced physical performance

Negrello

Garabini

Catalano

et al. 2016

2016 IEEE International Conference on Robotics and Automation (ICRA)

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“…There are four studies with a completely different implementation of this type of CEA. Two designs placed this CEA in series with a motor instead of in parallel [33,34]. One design placed the motor between bodies 1 and 2, such that the rotation of the motor can be locked [35].…”

Section: A Type 2c-3smentioning

confidence: 99%

“…Depending on the design, the motor can or cannot apply a force on the output bodies while being in the movingfreely mode. This depends on whether the motor is placed in parallel with the CEA [21-24, 39, 44], or in series [33,34,48]. The second aspect of the moving freely mode is whether the spring remains loaded or not.…”

Section: A Moving Freelymentioning

confidence: 99%

Clutched Elastic Actuators

Plooij

Wolfslag

Wisse

2017

IEEE/ASME Trans. Mechatron.

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Abstract-This paper identifies the class of actuators called clutched elastic actuators (CEAs). CEAs use clutches to control the energy flow into springs. CEAs in exoskeletons, prostheses, legged robots and robotic arms have shown the ability to reduce the energy consumption and motor requirements such as peak torque and peak power. Because of those abilities, they are increasingly used in robotics. In this paper, we categorize existing CEA designs, identify trends in those designs and provide a method to analyze their functionality. Based on a literature survey, current CEA designs are placed in nine categories, depending on their morphology. The main trend is that CEA designs are becoming more complex, meaning that the number of clutches and springs increases. We show with the introduced mathematical analysis that the functionality can be analyzed with a constraint matrix, a stiffness matrix and multiplication of a clutch dependent diagonal matrix with an oriented incidence matrix. This method eases the analysis of the functionality of CEAs. Furthermore, it can lead to new CEA designs in which the number of resulting stiffnesses grows exponentially with the number of springs and clutches.

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“…Therefore, we decided to focus for our There exist already several elastically actuated legged robots with either serial elastic drive concepts (SEA) e.g. Raibert hopper [1], ARL Monopod II [2], cCub [3], [4], BioBiped1 [5], MABEL [6], ATRIAS 1.0 [7] or variable impedance actuation (VIA) BiMASC [8], Blue [9]. Already in 1984 the Raibert hopper [1] was built with an air spring as elastic element in a single leg.…”

Section: Introductionmentioning

confidence: 99%

The DLR C-runner: Concept, design and experiments

Loeffl

Werner

Lakatos

et al. 2016

2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)

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Legged locomotion requires highly dynamic and efficient actuation as well as robust environment interaction. In the past years soft robots with elastic actuation have been investigated and their fitness for cyclic tasks and safe and robust environment interaction has been shown. To evaluate the benefits and drawbacks of series elastic actuation, variable impedance actuation as well as multi-articular elastic coupling in legged locomotion, we developed a two legged human size test-bed. These modular robotic legs give the possibility to evaluate and directly compare different elastic actuation concepts on a single system. Hopping and bipedal modal motion experiments where performed to proof the concept.

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An asymmetric compliant antagonistic joint design for high performance mobility

Cited by 37 publications

References 16 publications

WALK-MAN humanoid lower body design optimization for enhanced physical performance

WALK-MAN humanoid lower body design optimization for enhanced physical performance

Clutched Elastic Actuators

The DLR C-runner: Concept, design and experiments

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