HapticV1, PascalFrancis, Checkpoint, bibRecord, 000C19

Series Elastic Actuators for legged robots

Identifieur interne : 000C19 ( PascalFrancis/Checkpoint ); précédent : 000C18; suivant : 000C20

Series Elastic Actuators for legged robots

Auteurs : Jerry E. Pratt [États-Unis] ; Benjamin T. Krupp [États-Unis]

Source :

SPIE proceedings series [ 1017-2653 ] ; 2004.

RBID : Pascal:05-0038010

Descripteurs français

Pascal (Inist)
- Robot mobile, Robotique, Largeur bande, Actionneur, Commande force, Fidélité, Frottement, Conception machine, Engrenage, Capteur position, Mesure position, Boucle commande, Tolérance, Méthode adaptative, Engin terrestre autonome.
Wicri :
- topic : Robotique.

English descriptors

KwdEn :
- Actuator, Adaptive method, Bandwidth, Control loop, Fidelity, Force control, Friction, Gear, Machine design, Moving robot, Position measurement, Position sensor, Robotics, Tolerance, Unmanned ground vehicle.

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.

Affiliations:

États-Unis

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Pascal:05-0038010

Le document en format XML

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<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>
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Series Elastic Actuators for legged robots

Series Elastic Actuators for legged robots

Source :

Descripteurs français

English descriptors

Abstract

Links toward previous steps (curation, corpus...)

Links to Exploration step

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri