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 proceedingConference contributionAcademicpeer-review

8 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 languageEnglish
Title of host publication2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PublisherIEEE
Pages6068-6075
Number of pages8
ISBN (Electronic)9781538630815
DOIs
Publication statusPublished - 10 Sep 2018
Externally publishedYes
Event2018 IEEE International Conference on Robotics and Automation, ICRA 2018 - The Brisbane Convention & Exhibition Venue, Brisbane, Australia
Duration: 21 May 201825 May 2018
https://icra2018.org/

Conference

Conference2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Abbreviated titleICRA
CountryAustralia
CityBrisbane
Period21/05/1825/05/18
Internet address

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