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

4 Citations (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
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/
https://ctw-bw124.ctw.utwente.nl/roborehab/

Conference

Conference7th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BIOROB 2018
Abbreviated titleBioRob
Country/TerritoryNetherlands
CityEnschede
Period26/08/1829/08/18
OtherWorkshop 5 of BIOROB 2018
Internet address

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