Explosive Motions with Compliant Actuation Arrangements in Articulated Robots

Roel Djajadiningrat, Wesley Roozing, Nikolaos G. Tsagarakis

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

1 Citation (Scopus)

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 languageEnglish
Title of host publicationBIOROB 2018 - 7th IEEE International Conference on Biomedical Robotics and Biomechatronics
PublisherIEEE Computer Society Press
Pages1309-1314
Number of pages6
Volume2018-August
ISBN (Electronic)9781538681831
DOIs
Publication statusPublished - 9 Oct 2018
Externally publishedYes
Event7th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2018
: High Tech Human Touch
- University Campus, Enschede, Netherlands
Duration: 26 Aug 201829 Aug 2018
Conference number: 7
https://www.biorob2018.org/

Conference

Conference7th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2018
Abbreviated titleBioRob
CountryNetherlands
CityEnschede
Period26/08/1829/08/18
Internet address

Fingerprint Dive into the research topics of 'Explosive Motions with Compliant Actuation Arrangements in Articulated Robots'. Together they form a unique fingerprint.

  • Cite this

    Djajadiningrat, R., Roozing, W., & Tsagarakis, N. G. (2018). Explosive Motions with Compliant Actuation Arrangements in Articulated Robots. In BIOROB 2018 - 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Vol. 2018-August, pp. 1309-1314). [8487207] IEEE Computer Society Press. https://doi.org/10.1109/BIOROB.2018.8487207