[0912.3956] Modeling and Application of Series Elastic Actuators for Force Control Multi Legged Robots

September 6, 2013 – 11:10
Adaptive Output Force Control of Hydraulic Cylinders - Canadian

(Submitted on 20 Dec 2009)

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.
Subjects: Robotics (cs.RO)
Journal reference: Journal of Computing, Volume 1, Issue 1, pp 26-33, December 2009
Cite as: arXiv:0912.3956 [cs.RO]
(or arXiv:0912.3956v1 [cs.RO] for this version)

Submission history

From: William Jackson [view email]
[v1] Sun, 20 Dec 2009 02:10:54 GMT (440kb)

Source: arxiv.org

Zhangminivy Memory Metal Actuator - MigaOne - 12
BISS (Zhangminivy)
  • Stroke: 0.325 inch
  • Output Force: 2.75 pounds
  • Resistance: 3.9ohm
  • Actuation Time: 50 ms to Position Hold
  • Actuation Speed: up to 200mm/s 0.012 diameter SMA elements

Not much more than a 'weak' robot ..

2013-08-20 13:01:53 by EdgingFanFT

Many of the minimum wage jobs will eventually be replaced by robots capable of doing the job more effectively, for longer periods of time, without Breaks and they will never piss and moan about the crappy pay!
.. Face it, this has already happened.
So, where are the jobs going to be in the future? Building robots to replace minimum wage workers who HONESTLY do not want to be doing that $hit job anyway. So get thee to a mechanical trades school or a place teaching Mechatronics. Servos, motors, gears, sensors, transducers and actuators is THE FUTURE!

New Growth Opportunities for Electroactive Polymers  — evertiq.com
The market potential is large - EAPs can be used in various applications including actuators and sensors, biomimetics and robotics, energy harvesting and storage devices etc.

U.S. Patents Awarded to Inventors in Michigan (Sept. 5)  — Targeted News Service
ALEXANDRIA, Va., Sept. 5 -- GM Global Technology Operations, Detroit, has been assigned a patent (8,527,159) developed by Steven Mark Bezdek, Haslett, Mich., for an "automatic transmission actuators and sensors having integrated electronics."


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