Abstract
This paper presents the optimisation of explosive jumping motions on a 3-DoF leg prototype. The leg is based on the recently introduced asymmetric compliant actuator scheme, in which a series-elastic main drive is augmented with a parallel adjustable compliant branch with significantly different stiffness and energy storage capacity properties. The leg prototype implements two such actuation configurations, one of which includes a biarticulated branch, and they are compared to conventional series-elastic based actuation. An optimisation problem is formulated to optimise the joint trajectories and elastic element pretension to maximise jumping height. A simulation study demonstrates that the biarticulated configuration yields maximum jumping height, and that it achieves the highest peak joint power. Compared to series-elastic based actuation, the augmented leg jumps 4% higher with a monoarticulated parallel compliance configuration while using less energy, and over 10% higher in biarticulated configuration.
Original language | English |
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Title of host publication | BIOROB 2018 - 7th IEEE International Conference on Biomedical Robotics and Biomechatronics |
Publisher | IEEE |
Pages | 1309-1314 |
Number of pages | 6 |
Volume | 2018-August |
ISBN (Electronic) | 9781538681831 |
DOIs | |
Publication status | Published - 9 Oct 2018 |
Externally published | Yes |
Event | 7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BIOROB 2018: High Tech Human Touch - University Campus, Enschede, Netherlands Duration: 26 Aug 2018 → 29 Aug 2018 Conference number: 7 https://www.biorob2018.org/ https://ctw-bw124.ctw.utwente.nl/roborehab/ |
Conference
Conference | 7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BIOROB 2018 |
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Abbreviated title | BioRob |
Country/Territory | Netherlands |
City | Enschede |
Period | 26/08/18 → 29/08/18 |
Other | Workshop 5 of BIOROB 2018 |
Internet address |