Compliant antagonistic joint tuning for gravitational load cancellation and improved efficient mobility

N. G. Tsagarakis; H. Dallali; F. Negrello; W. Roozing; G. A. Medrano-Cerda; D. G. Caldwell

doi:10.1109/HUMANOIDS.2014.7041474

Compliant antagonistic joint tuning for gravitational load cancellation and improved efficient mobility

N. G. Tsagarakis, H. Dallali, F. Negrello, W. Roozing, G. A. Medrano-Cerda, D. G. Caldwell

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

13 Citations (Scopus)

Abstract

This paper introduces the design tuning of a recently introduced compliant actuation scheme that was developed to provide large energy storage capacity and demonstrate energetic efficient operation. The joint is based on an asymmetric compliant antagonistic actuation scheme where torques from two motors are transmitted to the joint through two elastic elements of different stiffness level and energy storage capacity. The paper presents the method used to tune the joint compliance and shows how this can be used to select the passive elasticity of a single degree of freedom (DOF) hopping leg for improving its energetic efficiency. The design and modeling of the hopping leg are discussed and experimental results are presented to verify the improved efficiency of the leg, particularly the power and torque reduction benefits obtained under static postures or cyclic motions.

Original language	English
Title of host publication	2014 IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014
Publisher	IEEE Computer Society Press
Pages	924-929
Number of pages	6
Volume	2015-February
ISBN (Electronic)	9781479971749
DOIs	https://doi.org/10.1109/HUMANOIDS.2014.7041474
Publication status	Published - 1 Jan 2015
Externally published	Yes
Event	14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014 - Madrid, Spain Duration: 18 Nov 2014 → 20 Nov 2014 Conference number: 14 http://www.humanoids2014.com/

Conference

Conference	14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014
Abbreviated title	Humanoids 2014
Country/Territory	Spain
City	Madrid
Period	18/11/14 → 20/11/14
Internet address	http://www.humanoids2014.com/

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10.1109/HUMANOIDS.2014.7041474

Cite this

Tsagarakis, N. G., Dallali, H., Negrello, F., Roozing, W., Medrano-Cerda, G. A., & Caldwell, D. G. (2015). Compliant antagonistic joint tuning for gravitational load cancellation and improved efficient mobility. In 2014 IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014 (Vol. 2015-February, pp. 924-929). [7041474] IEEE Computer Society Press. https://doi.org/10.1109/HUMANOIDS.2014.7041474

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title = "Compliant antagonistic joint tuning for gravitational load cancellation and improved efficient mobility",

abstract = "This paper introduces the design tuning of a recently introduced compliant actuation scheme that was developed to provide large energy storage capacity and demonstrate energetic efficient operation. The joint is based on an asymmetric compliant antagonistic actuation scheme where torques from two motors are transmitted to the joint through two elastic elements of different stiffness level and energy storage capacity. The paper presents the method used to tune the joint compliance and shows how this can be used to select the passive elasticity of a single degree of freedom (DOF) hopping leg for improving its energetic efficiency. The design and modeling of the hopping leg are discussed and experimental results are presented to verify the improved efficiency of the leg, particularly the power and torque reduction benefits obtained under static postures or cyclic motions.",

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Tsagarakis, NG, Dallali, H, Negrello, F, Roozing, W, Medrano-Cerda, GA & Caldwell, DG 2015, Compliant antagonistic joint tuning for gravitational load cancellation and improved efficient mobility. in 2014 IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014. vol. 2015-February, 7041474, IEEE Computer Society Press, pp. 924-929, 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014, Madrid, Spain, 18/11/14. https://doi.org/10.1109/HUMANOIDS.2014.7041474

Compliant antagonistic joint tuning for gravitational load cancellation and improved efficient mobility. / Tsagarakis, N. G.; Dallali, H.; Negrello, F. et al.

2014 IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014. Vol. 2015-February IEEE Computer Society Press, 2015. p. 924-929 7041474.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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N2 - This paper introduces the design tuning of a recently introduced compliant actuation scheme that was developed to provide large energy storage capacity and demonstrate energetic efficient operation. The joint is based on an asymmetric compliant antagonistic actuation scheme where torques from two motors are transmitted to the joint through two elastic elements of different stiffness level and energy storage capacity. The paper presents the method used to tune the joint compliance and shows how this can be used to select the passive elasticity of a single degree of freedom (DOF) hopping leg for improving its energetic efficiency. The design and modeling of the hopping leg are discussed and experimental results are presented to verify the improved efficiency of the leg, particularly the power and torque reduction benefits obtained under static postures or cyclic motions.

AB - This paper introduces the design tuning of a recently introduced compliant actuation scheme that was developed to provide large energy storage capacity and demonstrate energetic efficient operation. The joint is based on an asymmetric compliant antagonistic actuation scheme where torques from two motors are transmitted to the joint through two elastic elements of different stiffness level and energy storage capacity. The paper presents the method used to tune the joint compliance and shows how this can be used to select the passive elasticity of a single degree of freedom (DOF) hopping leg for improving its energetic efficiency. The design and modeling of the hopping leg are discussed and experimental results are presented to verify the improved efficiency of the leg, particularly the power and torque reduction benefits obtained under static postures or cyclic motions.

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Tsagarakis NG, Dallali H, Negrello F, Roozing W, Medrano-Cerda GA, Caldwell DG. Compliant antagonistic joint tuning for gravitational load cancellation and improved efficient mobility. In 2014 IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014. Vol. 2015-February. IEEE Computer Society Press. 2015. p. 924-929. 7041474 doi: 10.1109/HUMANOIDS.2014.7041474

Compliant antagonistic joint tuning for gravitational load cancellation and improved efficient mobility

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