Polyurethane-Based Modular Series Elastic Upgrade to a Robotics Actuator

@inproceedings{Martins2015PolyurethaneBasedMS,
  title={Polyurethane-Based Modular Series Elastic Upgrade to a Robotics Actuator},
  author={Leandro Tom{\'e} Martins and Christopher Tatsch and Eduardo Henrique Maciel and Renato Ventura Bayan Henriques and Reinhard Gerndt and Rodrigo da Silva Guerra},
  booktitle={RoboCup},
  year={2015}
}
This article extends previous work, presenting a novel polyurethane based compliant spring system designed to be attached to a conventional robotics servo motor, turning it into a series elastic actuator SEA. The new system is composed by only two mechanical parts: a torsional polyurethane spring and a round aluminum support for link attachment. The polyurethane spring, had its design derived from a iterative FEM-based optimization process. We present also some system identification and… 

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