The eLeg: A Novel Efficient Leg Prototype Powered by Adjustable Parallel Compliant Actuation Principles

Zeyu Ren; Wesley Roozing; Nikos G. Tsagarakis

doi:10.1109/HUMANOIDS.2018.8624960

The eLeg: A Novel Efficient Leg Prototype Powered by Adjustable Parallel Compliant Actuation Principles

Zeyu Ren, Wesley Roozing, Nikos G. Tsagarakis

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

1 Citation (Scopus)

1 Downloads (Pure)

Abstract

This paper presents the design and implementation details of an efficient robotic leg (eLeg) prototype in which series-elastic actuation is combined with adjustable parallel compliance to significantly improve its energy efficiency. The parallel actuation units are driven by secondary motors to adjust pretension of the parallel elasticity. Both monoarticulated and biarticulated actuation configurations can be employed and the leg was thus designed to permit rapid reconfiguration of its actuation units for the purpose of performing validation studies and energetic comparison of the different actuation configurations. We focus on the design procedure and implementation of the adjustable parallel actuation units, including elastic element selection, mechanism design, and force sensing capability. A design method for robots utilising the concept is presented and experimental data are provided, that demonstrate the effectiveness of both the actuation concepts and design procedure.

Original language	English
Title of host publication	2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018
Publisher	IEEE Computer Society Press
Pages	455-461
Number of pages	7
Volume	2018-November
ISBN (Electronic)	9781538672839
DOIs	https://doi.org/10.1109/HUMANOIDS.2018.8624960
Publication status	Published - 23 Jan 2019
Externally published	Yes
Event	18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018 - Beijing Friendship Hotel, Beijing, China Duration: 6 Nov 2018 → 9 Nov 2018 Conference number: 18 http://humanoids2018.csp.escience.cn/dct/page/1

Conference

Conference	18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018
Abbreviated title	Humanoids 2018
Country/Territory	China
City	Beijing
Period	6/11/18 → 9/11/18
Internet address	http://humanoids2018.csp.escience.cn/dct/page/1

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10.1109/HUMANOIDS.2018.8624960

Cite this

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title = "The eLeg: A Novel Efficient Leg Prototype Powered by Adjustable Parallel Compliant Actuation Principles",

abstract = "This paper presents the design and implementation details of an efficient robotic leg (eLeg) prototype in which series-elastic actuation is combined with adjustable parallel compliance to significantly improve its energy efficiency. The parallel actuation units are driven by secondary motors to adjust pretension of the parallel elasticity. Both monoarticulated and biarticulated actuation configurations can be employed and the leg was thus designed to permit rapid reconfiguration of its actuation units for the purpose of performing validation studies and energetic comparison of the different actuation configurations. We focus on the design procedure and implementation of the adjustable parallel actuation units, including elastic element selection, mechanism design, and force sensing capability. A design method for robots utilising the concept is presented and experimental data are provided, that demonstrate the effectiveness of both the actuation concepts and design procedure.",

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

year = "2019",

month = jan,

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doi = "10.1109/HUMANOIDS.2018.8624960",

language = "English",

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pages = "455--461",

booktitle = "2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018",

publisher = "IEEE Computer Society Press",

note = "18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018, Humanoids 2018 ; Conference date: 06-11-2018 Through 09-11-2018",

url = "http://humanoids2018.csp.escience.cn/dct/page/1",

}

Ren, Z, Roozing, W & Tsagarakis, NG 2019, The eLeg: A Novel Efficient Leg Prototype Powered by Adjustable Parallel Compliant Actuation Principles. in 2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018. vol. 2018-November, 8624960, IEEE Computer Society Press, pp. 455-461, 18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018, Beijing, China, 6/11/18. https://doi.org/10.1109/HUMANOIDS.2018.8624960

The eLeg : A Novel Efficient Leg Prototype Powered by Adjustable Parallel Compliant Actuation Principles. / Ren, Zeyu; Roozing, Wesley; Tsagarakis, Nikos G.

2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018. Vol. 2018-November IEEE Computer Society Press, 2019. p. 455-461 8624960.

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

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AU - Roozing, Wesley

AU - Tsagarakis, Nikos G.

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PY - 2019/1/23

Y1 - 2019/1/23

N2 - This paper presents the design and implementation details of an efficient robotic leg (eLeg) prototype in which series-elastic actuation is combined with adjustable parallel compliance to significantly improve its energy efficiency. The parallel actuation units are driven by secondary motors to adjust pretension of the parallel elasticity. Both monoarticulated and biarticulated actuation configurations can be employed and the leg was thus designed to permit rapid reconfiguration of its actuation units for the purpose of performing validation studies and energetic comparison of the different actuation configurations. We focus on the design procedure and implementation of the adjustable parallel actuation units, including elastic element selection, mechanism design, and force sensing capability. A design method for robots utilising the concept is presented and experimental data are provided, that demonstrate the effectiveness of both the actuation concepts and design procedure.

AB - This paper presents the design and implementation details of an efficient robotic leg (eLeg) prototype in which series-elastic actuation is combined with adjustable parallel compliance to significantly improve its energy efficiency. The parallel actuation units are driven by secondary motors to adjust pretension of the parallel elasticity. Both monoarticulated and biarticulated actuation configurations can be employed and the leg was thus designed to permit rapid reconfiguration of its actuation units for the purpose of performing validation studies and energetic comparison of the different actuation configurations. We focus on the design procedure and implementation of the adjustable parallel actuation units, including elastic element selection, mechanism design, and force sensing capability. A design method for robots utilising the concept is presented and experimental data are provided, that demonstrate the effectiveness of both the actuation concepts and design procedure.

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The eLeg: A Novel Efficient Leg Prototype Powered by Adjustable Parallel Compliant Actuation Principles

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