TY - JOUR
T1 - An efficient leg with series–parallel and biarticular compliant actuation: design optimization, modeling, and control of the eLeg
AU - Roozing, Wesley
AU - Ren, Zeyu
AU - Tsagarakis, Nikos G
N1 - Sage deal
PY - 2019/12/16
Y1 - 2019/12/16
N2 - We present the development, modeling, and control of a three-degree-of-freedom compliantly actuated leg called the eLeg, which employs both series- and parallel-elastic actuation as well as a bio-inspired biarticular tendon. The leg can be reconfigured to use three distinct actuation configurations, to directly compare with a state-of-the-art series-elastic actuation scheme. Critical actuation design parameters are derived through optimization. A rigorous modeling approach is presented using the concept of power flows, which are also used to demonstrate the ability to transfer mechanical power between ankle and knee joints using the biarticular tendon. The design principles and control strategies were verified both in simulation and experiment. Notably, the experimental data demonstrate significant improvements of 65–75% in electrical energy consumption compared with a state-of-the-art series-elastic actuator configuration.
AB - We present the development, modeling, and control of a three-degree-of-freedom compliantly actuated leg called the eLeg, which employs both series- and parallel-elastic actuation as well as a bio-inspired biarticular tendon. The leg can be reconfigured to use three distinct actuation configurations, to directly compare with a state-of-the-art series-elastic actuation scheme. Critical actuation design parameters are derived through optimization. A rigorous modeling approach is presented using the concept of power flows, which are also used to demonstrate the ability to transfer mechanical power between ankle and knee joints using the biarticular tendon. The design principles and control strategies were verified both in simulation and experiment. Notably, the experimental data demonstrate significant improvements of 65–75% in electrical energy consumption compared with a state-of-the-art series-elastic actuator configuration.
KW - UT-Hybrid-D
UR - http://www.scopus.com/inward/record.url?scp=85077370136&partnerID=8YFLogxK
U2 - 10.1177/0278364919893762
DO - 10.1177/0278364919893762
M3 - Article
SN - 0278-3649
SP - 1
EP - 17
JO - International journal of robotics research
JF - International journal of robotics research
ER -