Design of a Novel 3-DoF Leg with Series and Parallel Compliant Actuation for Energy Efficient Articulated Robots

Wesley Roozing; Zeyu Ren; Nikos G. Tsagarakis

doi:10.1109/ICRA.2018.8460493

Design of a Novel 3-DoF Leg with Series and Parallel Compliant Actuation for Energy Efficient Articulated Robots

Wesley Roozing, Zeyu Ren, Nikos G. Tsagarakis

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

13 Citations (Scopus)

Abstract

This work presents the development of a 3-DoF leg with series and parallel compliant actuation. Series-elastic main actuators are combined with parallel high efficiency energy storage branches, to substantially improve energy efficiency. The leg design is semi-anthropomorphic, with similar mass and mass distribution to the human limb, and includes a biarticulated actuation configuration. The parallel branches are driven by secondary motors and their design parameters are optimised. The mechanical design of the prototype leg is presented, introducing details of the actuation configuration principles employed. Preliminary experimental data are presented, in which a baseline series-elastic-only configuration is compared with configurations with mono- and biarticulated parallel branches, respectively. The results effectively demonstrate the concept's potential, showing improvements of 53% and 60% in electrical power consumption while the leg is executing loaded cyclic motion profiles.

Original language	English
Title of host publication	2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Publisher	IEEE
Pages	6068-6075
Number of pages	8
ISBN (Electronic)	9781538630815
DOIs	https://doi.org/10.1109/ICRA.2018.8460493
Publication status	Published - 10 Sep 2018
Externally published	Yes
Event	2018 IEEE International Conference on Robotics and Automation, ICRA 2018 - The Brisbane Convention & Exhibition Venue, Brisbane, Australia Duration: 21 May 2018 → 25 May 2018 https://icra2018.org/

Conference

Conference	2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Abbreviated title	ICRA
Country/Territory	Australia
City	Brisbane
Period	21/05/18 → 25/05/18
Internet address	https://icra2018.org/

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10.1109/ICRA.2018.8460493

Cite this

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title = "Design of a Novel 3-DoF Leg with Series and Parallel Compliant Actuation for Energy Efficient Articulated Robots",

abstract = "This work presents the development of a 3-DoF leg with series and parallel compliant actuation. Series-elastic main actuators are combined with parallel high efficiency energy storage branches, to substantially improve energy efficiency. The leg design is semi-anthropomorphic, with similar mass and mass distribution to the human limb, and includes a biarticulated actuation configuration. The parallel branches are driven by secondary motors and their design parameters are optimised. The mechanical design of the prototype leg is presented, introducing details of the actuation configuration principles employed. Preliminary experimental data are presented, in which a baseline series-elastic-only configuration is compared with configurations with mono- and biarticulated parallel branches, respectively. The results effectively demonstrate the concept's potential, showing improvements of 53% and 60% in electrical power consumption while the leg is executing loaded cyclic motion profiles.",

author = "Wesley Roozing and Zeyu Ren and Tsagarakis, {Nikos G.}",

year = "2018",

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booktitle = "2018 IEEE International Conference on Robotics and Automation, ICRA 2018",

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note = "2018 IEEE International Conference on Robotics and Automation, ICRA 2018, ICRA ; Conference date: 21-05-2018 Through 25-05-2018",

url = "https://icra2018.org/",

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Roozing, W, Ren, Z & Tsagarakis, NG 2018, Design of a Novel 3-DoF Leg with Series and Parallel Compliant Actuation for Energy Efficient Articulated Robots. in 2018 IEEE International Conference on Robotics and Automation, ICRA 2018., 8460493, IEEE, pp. 6068-6075, 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia, 21/05/18. https://doi.org/10.1109/ICRA.2018.8460493

Design of a Novel 3-DoF Leg with Series and Parallel Compliant Actuation for Energy Efficient Articulated Robots. / Roozing, Wesley; Ren, Zeyu; Tsagarakis, Nikos G.

2018 IEEE International Conference on Robotics and Automation, ICRA 2018. IEEE, 2018. p. 6068-6075 8460493.

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

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Design of a Novel 3-DoF Leg with Series and Parallel Compliant Actuation for Energy Efficient Articulated Robots

Abstract

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