Series Elastic Actuators for legged robots
Identifieur interne : 006B32 ( Main/Curation ); précédent : 006B31; suivant : 006B33Series Elastic Actuators for legged robots
Auteurs : Jerry E. Pratt [États-Unis] ; Benjamin T. Krupp [États-Unis]Source :
- SPIE proceedings series [ 1017-2653 ] ; 2004.
Descripteurs français
- Pascal (Inist)
- Wicri :
- topic : Robotique.
English descriptors
- KwdEn :
Abstract
Series Elastic Actuators provide many benefits in force control of robots in unconstrained environments. These benefits include high force fidelity, extremely low impedance, low friction, and good force control bandwidth. Series Elastic Actuators employ a novel mechanical design architecture which goes against the common machine design principal of "stiffer is better". A compliant element is placed between the gear train and driven load to intentionally reduce the stiffness of the actuator. A position sensor measures the deflection, and the force output is accurately calculated using Hooke's Law (F=Kx). A control loop then servos the actuator to the desired output force. The resulting actuator has inherent shock tolerance, high force fidelity and extremely low impedance. These characteristics are desirable in many applications including legged robots, exoskeletons for human performance amplification, robotic arms, haptic interfaces, and adaptive suspensions. We describe several variations of Series Elastic Actuators that have been developed using both electric and hydraulic components.
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Pascal:05-0038010Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en" level="a">Series Elastic Actuators for legged robots</title><author><name sortKey="Pratt, Jerry E" sort="Pratt, Jerry E" uniqKey="Pratt J" first="Jerry E." last="Pratt">Jerry E. Pratt</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Institute for Human and Machine Cognition, 40 South Alcaniz Street</s1><s2>Pensacola, FL, 32502</s2><s3>USA</s3><sZ>1 aut.</sZ></inist:fA14><country>États-Unis</country><wicri:noRegion>Pensacola, FL, 32502</wicri:noRegion></affiliation></author><author><name sortKey="Krupp, Benjamin T" sort="Krupp, Benjamin T" uniqKey="Krupp B" first="Benjamin T." last="Krupp">Benjamin T. Krupp</name><affiliation wicri:level="1"><inist:fA14 i1="02"><s1>Yobotics, Inc, 1776 Mentor Avenue</s1><s2>Cincinnati, OH, 45212</s2><s3>USA</s3><sZ>2 aut.</sZ></inist:fA14><country>États-Unis</country><wicri:noRegion>Cincinnati, OH, 45212</wicri:noRegion></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">INIST</idno><idno type="inist">05-0038010</idno><date when="2004">2004</date><idno type="stanalyst">PASCAL 05-0038010 INIST</idno><idno type="RBID">Pascal:05-0038010</idno><idno type="wicri:Area/PascalFrancis/Corpus">000F12</idno><idno type="wicri:Area/PascalFrancis/Curation">000596</idno><idno type="wicri:Area/PascalFrancis/Checkpoint">000C19</idno><idno type="wicri:doubleKey">1017-2653:2004:Pratt J:series:elastic:actuators</idno><idno type="wicri:Area/Main/Merge">006F41</idno><idno type="wicri:Area/Main/Curation">006B32</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Series Elastic Actuators for legged robots</title><author><name sortKey="Pratt, Jerry E" sort="Pratt, Jerry E" uniqKey="Pratt J" first="Jerry E." last="Pratt">Jerry E. Pratt</name><affiliation wicri:level="1"><inist:fA14 i1="01"><s1>Institute for Human and Machine Cognition, 40 South Alcaniz Street</s1><s2>Pensacola, FL, 32502</s2><s3>USA</s3><sZ>1 aut.</sZ></inist:fA14><country>États-Unis</country><wicri:noRegion>Pensacola, FL, 32502</wicri:noRegion></affiliation></author><author><name sortKey="Krupp, Benjamin T" sort="Krupp, Benjamin T" uniqKey="Krupp B" first="Benjamin T." last="Krupp">Benjamin T. Krupp</name><affiliation wicri:level="1"><inist:fA14 i1="02"><s1>Yobotics, Inc, 1776 Mentor Avenue</s1><s2>Cincinnati, OH, 45212</s2><s3>USA</s3><sZ>2 aut.</sZ></inist:fA14><country>États-Unis</country><wicri:noRegion>Cincinnati, OH, 45212</wicri:noRegion></affiliation></author></analytic><series><title level="j" type="main">SPIE proceedings series</title><idno type="ISSN">1017-2653</idno><imprint><date when="2004">2004</date></imprint></series></biblStruct></sourceDesc><seriesStmt><title level="j" type="main">SPIE proceedings series</title><idno type="ISSN">1017-2653</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Actuator</term><term>Adaptive method</term><term>Bandwidth</term><term>Control loop</term><term>Fidelity</term><term>Force control</term><term>Friction</term><term>Gear</term><term>Machine design</term><term>Moving robot</term><term>Position measurement</term><term>Position sensor</term><term>Robotics</term><term>Tolerance</term><term>Unmanned ground vehicle</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Robot mobile</term><term>Robotique</term><term>Largeur bande</term><term>Actionneur</term><term>Commande force</term><term>Fidélité</term><term>Frottement</term><term>Conception machine</term><term>Engrenage</term><term>Capteur position</term><term>Mesure position</term><term>Boucle commande</term><term>Tolérance</term><term>Méthode adaptative</term><term>Engin terrestre autonome</term></keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Robotique</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Series Elastic Actuators provide many benefits in force control of robots in unconstrained environments. These benefits include high force fidelity, extremely low impedance, low friction, and good force control bandwidth. Series Elastic Actuators employ a novel mechanical design architecture which goes against the common machine design principal of "stiffer is better". A compliant element is placed between the gear train and driven load to intentionally reduce the stiffness of the actuator. A position sensor measures the deflection, and the force output is accurately calculated using Hooke's Law (F=Kx). A control loop then servos the actuator to the desired output force. The resulting actuator has inherent shock tolerance, high force fidelity and extremely low impedance. These characteristics are desirable in many applications including legged robots, exoskeletons for human performance amplification, robotic arms, haptic interfaces, and adaptive suspensions. We describe several variations of Series Elastic Actuators that have been developed using both electric and hydraulic components.</div></front></TEI></record>Pour manipuler ce document sous Unix (Dilib)
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