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 proceedingConference contributionAcademicpeer-review

10 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 languageEnglish
Title of host publication2014 IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014
PublisherIEEE Computer Society Press
Pages924-929
Number of pages6
Volume2015-February
ISBN (Electronic)9781479971749
DOIs
Publication statusPublished - 1 Jan 2015
Externally publishedYes
Event14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014 - Madrid, Spain
Duration: 18 Nov 201420 Nov 2014
Conference number: 14
http://www.humanoids2014.com/

Conference

Conference14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014
Abbreviated titleHumanoids 2014
CountrySpain
CityMadrid
Period18/11/1420/11/14
Internet address

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  • 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