Improving Legged Robot Hopping by Using Coupling-Based Series Elastic Actuation

This paper investigates the use of discrete couplings in series elastic actuation in order to increase variability of dynamic legged robot locomotion. The couplings are capable of engaging and disengaging the connection between an actuation element and a mechanical spring in real time such that the...

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Bibliographic Details
Published in:IEEE/ASME transactions on mechatronics 2019-04, Vol.24 (2), p.413-423
Main Authors: Guenther, Fabian, Vu, Hung Quy, Iida, Fumiya
Format: Article
Language:English
Subjects:
Actuation
Actuators
Controllability
Coupling-based series elastic actuation (CB-SEA)
Couplings
discrete couplings
dynamic legged robots
Elasticity
Force
Friction
Iron
Legged locomotion
Locomotion
mechanism design
Performance enhancement
Robot control
Robot dynamics
Robots
Springs
Stability
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Summary:This paper investigates the use of discrete couplings in series elastic actuation in order to increase variability of dynamic legged robot locomotion. The couplings are capable of engaging and disengaging the connection between an actuation element and a mechanical spring in real time such that the series elasticity could be used to load, store, and retain energy, and release it in the necessary timings. Such a mechanism is particularly beneficial for hopping or running locomotion, because it allows preloading of spring in flight phase. Through a series of simulated and physical robot experiments, this paper explains how such variability of actuation dynamics can improve performance of hopping locomotion under the limitation of actuator forces, as well as the controllability of behaviors. Compared to the conventional hopping robots, the proposed control strategy makes locomotion robots capable of higher hopping without larger actuation forces, and changing behaviors for more aggressive manoeuvres.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2019.2893235