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 proceedingConference contributionAcademicpeer-review

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 languageEnglish
Title of host publication2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018
PublisherIEEE Computer Society Press
Pages455-461
Number of pages7
Volume2018-November
ISBN (Electronic)9781538672839
DOIs
Publication statusPublished - 23 Jan 2019
Externally publishedYes
Event18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018 - Beijing Friendship Hotel, Beijing, China
Duration: 6 Nov 20189 Nov 2018
Conference number: 18
http://humanoids2018.csp.escience.cn/dct/page/1

Conference

Conference18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018
Abbreviated titleHumanoids 2018
CountryChina
CityBeijing
Period6/11/189/11/18
Internet address

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  • Cite this

    Ren, Z., Roozing, W., & Tsagarakis, N. G. (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, pp. 455-461). [8624960] IEEE Computer Society Press. https://doi.org/10.1109/HUMANOIDS.2018.8624960