A compact soft actuator unit for small scale human friendly robots

Tsagarakis, Nikos G.; Laffranchi, Matteo; Vanderborght, Bram; Caldwell, Darwin G.

doi:10.1109/robot.2009.5152496

Cited by 207 publications

(111 citation statements)

References 18 publications

Supporting

Mentioning

111

Contrasting

Order By: Relevance

“…Recent works [15] and [16] suggest numerical methods based on trial and error for compliance selection in designing compliant humanoids. However, for a multi degree of freedom humanoid like COMAN, these processes demand a tedious work and is undesirable.…”

Section: Compliance Selectionmentioning

confidence: 99%

Designing a High Performance Humanoid Robot Based on Dynamic Simulation

Dallali

Mosadeghzad

Medrano-Cerda

et al. 2013

2013 European Modelling Symposium

View full text Add to dashboard Cite

Abstract-In this paper, we present a study on dynamic simulation to assist designing a high performance compliant humanoid robot. An open source dynamic simulator is introduced which includes the rigid body and actuator dynamics of the full humanoid robot. A set of representative tasks for humanoid robot in rescue operations are chosen and simulated. The data from these tasks are used in sizing the motor and transmission gear for each joint of the robot. It is shown that in the representative tasks, the most critical joint of the robot (in terms of power consumption) is the knee joint. Furthermore, a recently proposed optimization method is used to obtain the value of passive compliance for each joint. The data obtained from simulation studies are used for designing the new humanoid robot.

show abstract

Section: Compliance Selectionmentioning

confidence: 99%

Designing a High Performance Humanoid Robot Based on Dynamic Simulation

Dallali

Mosadeghzad

Medrano-Cerda

et al. 2013

2013 European Modelling Symposium

View full text Add to dashboard Cite

show abstract

“…The SEA module of COMAN comprises three pairs of opposing helical springs [21], which were thought to be substituted with other types. Possible options were: helical, disk, volute and leaf springs.…”

Section: Design Of the Sea Elastic Modulementioning

confidence: 99%

“…A similar design is employed for the BioRob arm [10]. The compact size SEA developed by Tsagarakis et al [21] was integrated into the COMAN humanoid [22]. The DLR hand arm system [4] exploits floating spring joints (FSJ) [23].…”

Section: Introductionmentioning

confidence: 99%

Quantitative Evaluation of Standing Stabilization Using Stiff and Compliant Actuators

Eljaik¹,

Li²,

Randazzo³

et al. 2013

Robotics: Science and Systems IX

View full text Add to dashboard Cite

Abstract-In this paper we evaluate the benefits of series elastic actuation in performing a balancing task on a humanoid robot. By having the possibility to replace the type of transmission at the ankles level, it was possible to repeat the very same experiment in two different conditions: (1) Using series elastic actuators (SEA); (2) Replacing the elastic elements with rigid transmissions. The experiments consisted in perturbing a balanced posture with an impulsive force. Perturbations were applied in two different scenarios: hitting the robot on the upper body and at the support platform, thus acting above and under the actuated joint. The applied perturbations were controlled to be repeatable and the static stiffness of the rigid and elastic actuators were tuned to match. With these assumptions, static responses were the same in the two conditions; differences appeared only during the dynamic response and are motivated by different proportions between active and passive stiffness. In both scenarios, results show that series elasticity simplifies the role of the balancing controller by low pass filtering the dynamics of the zero moment point, consistently observing a more stable balance recovery with SEA through all the experiments.

show abstract

“…Elasticjoints allow modern robots to overcome limitations of classical rigid robots in advanced applications requiring e.g. safe interaction with the environment, energy storage or force control [5], [6]. However, these new features come at the price of new control challenges.…”

Section: Introductionmentioning

confidence: 99%

Combined inverse-dynamics/passivity-based control for robots with elastic joints

Giusti

Malzahn

Tsagarakis

et al. 2017

2017 IEEE International Conference on Robotics and Automation (ICRA)

View full text Add to dashboard Cite

Abstract-We consider the global tracking control problem of robots with elastic joints. Even if joint elasticity introduces beneficial features for modern applications which require physically resilient and safer robots that can interact with the environment or humans, it challenges the achievable control performance. We propose a novel controller which combines the benefits of two approaches: the intrinsic robustness to model uncertainty from passivity-based control and the implementation efficiency of inverse-dynamics control schemes using a modern recursive algorithm. The novel controller is applied to an elastic-joint reconfigurable robotic arm using a recently proposed framework for on-the-fly control design. Simulation and experimental results validate our proposed approach.

show abstract

A compact soft actuator unit for small scale human friendly robots

Cited by 207 publications

References 18 publications

Designing a High Performance Humanoid Robot Based on Dynamic Simulation

Designing a High Performance Humanoid Robot Based on Dynamic Simulation

Quantitative Evaluation of Standing Stabilization Using Stiff and Compliant Actuators

Combined inverse-dynamics/passivity-based control for robots with elastic joints

Contact Info

Product

Resources

About