Polyurethane-Based Modular Series Elastic Upgrade to a Robotics Actuator

Martins, Leandro Tomé; Tatsch, Christopher; Maciel, Eduardo Henrique; Henriques, Renato Ventura Bayan; Gerndt, Reinhard; Guerra, Rodrigo da Silva

doi:10.1007/978-3-319-29339-4_29

Cited by 3 publications

(1 citation statement)

References 6 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…WALK-MAN [52] is equipped with the newest advances in SEA technology, utilising both active and passive adaptation [53]. Existing humanoids can be made compliant, by introducing an elastic element on the output shaft of the actuator [54].…”

Section: Actuationmentioning

confidence: 99%

Bipedal Humanoid Hardware Design: a Technology Review

Ficht

Behnke

2021

Curr Robot Rep

View full text Add to dashboard Cite

Purpose of Review As new technological advancements are made, humanoid robots that utilise them are being designed and manufactured. For optimal design choices, a broad overview with insight on the advantages and disadvantages of available technologies is necessary. This article intends to provide an analysis on the established approaches and contrast them with emerging ones. Recent Findings A clear shift in the recent design features of humanoid robots is developing, which is supported by literature. As humanoid robots are meant to leave laboratories and traverse the world, compliance and more efficient locomotion are necessary. The limitations of highly rigid actuation are being tackled by different research groups in unique ways. Some focus on modifying the kinematic structure, while others change the actuation scheme. With new manufacturing capabilities, previously impossible designs are becoming feasible. Summary A comprehensive review on the technologies crucial for bipedal humanoid robots was performed. Different mechanical concepts have been discussed, along with the advancements in actuation, sensing, and manufacturing. The paper is supplemented with a list of the recently developed platforms along with a selection of their specifications.

show abstract

Section: Actuationmentioning

confidence: 99%

Bipedal Humanoid Hardware Design: a Technology Review

Ficht

Behnke

2021

Curr Robot Rep

View full text Add to dashboard Cite

show abstract

Dimitri: an Open-Source Humanoid Robot with Compliant Joint

Tatsch

Ahmadi

Bottega

et al. 2017

J Intell Robot Syst

Self Cite

View full text Add to dashboard Cite

We introduce Dimitri, an open-software & open-hardware humanoid robot with 31 DOFs, fitted with cost-effective modular compliant joints and parallel link legs, designed for advanced human-robot interaction research, forceinformed object handling and intelligent environment discovery. Our main innovation is in the design of a robust full-body biped humanoid robot equipped with very low-cost polyurethane torsional spring fixed to traditional servo motors and a circuit to measure angular displacement, transforming the system into a series elastic actuator (SEA). In order to illustrate the robot's qualities in the field of machine learning applied to robotics and manipulation, a multiple timescale recurrent neural network (MTRNN) is implemented, allowing the robot to replicate combined movement sequences earlier taught via interactive demonstration.

show abstract