On the Sensor Design of Torque Controlled Actuators: A Comparison Study of Strain Gauge and Encoder-Based Principles

Kashiri, Navvab; Malzahn, Jörn; Tsagarakis, Nikos G.

doi:10.1109/lra.2017.2662744

Cited by 70 publications

(33 citation statements)

References 26 publications

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“…It includes two branches working in parallel to each other: a high power branch, and an energy storage branch. The first branch embodies a series elastic actuation system, with an elastic element serving as a bi-directional coupling between the drive and the output link, protection of the drive unit, and torque sensing as demonstrated by Kashiri et al ( 2017b ). The second branch includes a low power motor coupled with a high reduction efficient linear transmission in series with a passive elastic transmission, and an elastic element with large energy storage capacity.…”

Section: Compliant Actuationmentioning

confidence: 99%

An Overview on Principles for Energy Efficient Robot Locomotion

et al. 2018

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Despite enhancements in the development of robotic systems, the energy economy of today's robots lags far behind that of biological systems. This is in particular critical for untethered legged robot locomotion. To elucidate the current stage of energy efficiency in legged robotic systems, this paper provides an overview on recent advancements in development of such platforms. The covered different perspectives include actuation, leg structure, control and locomotion principles. We review various robotic actuators exploiting compliance in series and in parallel with the drive-train to permit energy recycling during locomotion. We discuss the importance of limb segmentation under efficiency aspects and with respect to design, dynamics analysis and control of legged robots. This paper also reviews a number of control approaches allowing for energy efficient locomotion of robots by exploiting the natural dynamics of the system, and by utilizing optimal control approaches targeting locomotion expenditure. To this end, a set of locomotion principles elaborating on models for energetics, dynamics, and of the systems is studied.

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Section: Compliant Actuationmentioning

confidence: 99%

An Overview on Principles for Energy Efficient Robot Locomotion

et al. 2018

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“…These drives are often composed of torque motors (in contrast to power/speed motors) and a single-stage gearing transmission, so that the output torque is amplified to some extent and intrinsic back-drivability is achieved without compromising the system bandwidth. Moreover, while torque sensors (such as [10]) are an essential part of state-of-the-art robotic platform actuators (e.g., [11]), the low reduction of the gearing and the resulting high efficiency allows the motor torque, which can be realized by the current measurement, to directly be a valid indication of the output torque. Such a design provides an actuation solution for robots rendering dynamic motions, such as jumping, as presented in the MIT cheetah robot [12][13][14].…”

Section: Introductionmentioning

confidence: 99%

Design of a Quasi-Direct-Drive Actuator for Dynamic Motions

Singh¹,

Kashiri

Tsagarakis³

2020

The 1st International Electronic Conference on Actuator Technology: Materials, Devices and Applications

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“…A displacement sensor can be used to measure the deformation and thus the force of the series spring [8]. Accurate and robust force control can be achieved [9]- [12] without using resistive or capacitive force sensors [13], which require special sensor placement and complicated signal conditioning to avoid force noise. For applications that require…”

Section: Introductionmentioning

confidence: 99%

Improving the Dynamic Force Control of Series Elastic Actuation Using Motors of High Torque-to-Inertia Ratios

2020

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A series elastic actuator (SEA) includes an elastic spring in series with an actuator. SEAs provide more accurate force and impedance control than conventional rigid actuators. They are ideal for robots and machines that need to interact safely with the environment. The majority of existing SEAs uses brushless or brushed DC motors as the actuators. The advantages of using step motors as the actuators of SEAs have not received enough attention. Step motors have much higher torque-to-weight ratio and torqueto-inertia ratio than other DC motors. Hence they can provide better stability and high-speed accuracy of force control while maintaining lightweight. When the rotor position feedback is used, step motors can achieve accurate dynamic position response smoothly. This paper develops the dynamic model of a linear series elastic step motor and presents its prototype. Force and impedance control responses will be provided to show the advantages due to the high torque-to-inertia ratio of step motors. It is expected that the results presented here can offer a better actuator selection of SEAs when high-performance dynamic force control is required.

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On the Sensor Design of Torque Controlled Actuators: A Comparison Study of Strain Gauge and Encoder-Based Principles

Cited by 70 publications

References 26 publications

An Overview on Principles for Energy Efficient Robot Locomotion

An Overview on Principles for Energy Efficient Robot Locomotion

Design of a Quasi-Direct-Drive Actuator for Dynamic Motions

Improving the Dynamic Force Control of Series Elastic Actuation Using Motors of High Torque-to-Inertia Ratios

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