Polyurethane-Based Modular Series Elastic Upgrade to a Robotics Actuator

  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},
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… 

Dimitri: an Open-Source Humanoid Robot with Compliant Joint

We introduce Dimitri, an open-software & open-hardware humanoid robot with 31 DOFs, fitted with cost-effective modular compliant joints and parallel link legs, designed for advanced human-robot

Dimitri: A Low-Cost Compliant Humanoid Torso Designed for Cognitive Robotics Research

This work presents Dimitri, an open-software & open-hardware robot torso equipped with modular low cost compliant joints, built to allow advanced research on human-robot interaction, force-aware

Bipedal Humanoid Hardware Design: A Technology Review

This article intends to provide an analysis on the established approaches and contrast them with emerging ones on the technologies crucial for bipedal humanoid robots.

WF Wolves & Taura Bots – Humanoid Teen Size Team Description for RoboCup 2016

The joint team WF Wolves & Taura Bots, their robots and current research status are described, and the robot hardware is specified in detail, separating out the mechanical platforms from the electrical systems.

WF Wolves & Hamburg Bit-Bots Team Description for RoboCup 2018 – Humanoid TeenSize –

The joint team Bit-Bots and WF Wolves apply for participation at the RoboCup 2018 for Team Competition in Montreal, Canada and the later intodruced Minibot is not viable for the TeenSize League.



Design of a Modular Series Elastic Upgrade to a Robotics Actuator

In this article we present a compact and modular device designed to allow a conventional stiff servo actuator to be easily upgraded into a series elastic actuator (SEA). This is a low cost, open

A Novel Compact Torsional Spring for Series Elastic Actuators for Assistive Wearable Robots

The introduction of intrinsic compliance in the actuation system of assistive robots improves safety and dynamical adaptability. Furthermore, in the case of wearable robots for gait assistance, the

Control issues for velocity sourced series elastic actuators

The Series Elasic Actuator has been proposed as a method for providing safe force or torque based acutation for robots that interact with humans. In this paper we look at some outstanding issues in

ServoSEA concept: Cheap, miniature series-elastic actuators for orthotic, prosthetic and robotic hands

The ServoSEA is presented, which is a miniature Series-Elastic Actuator (SEA) based on cheap RC servos, and which is useful for actuation of orthotic, prosthetic or robotic hands and final performance strongly depends on the quality of the original RC servo.

Passive compliance versus active compliance in robot‐based automated assembly systems

Industrial robots have found great potential in applications to assembly‐line automation. Programmable robot‐based assembly systems are often needed, in particular for circumstances in which special

Pulling open doors and drawers: Coordinating an omni-directional base and a compliant arm with Equilibrium Point control

  • Advait JainC. Kemp
  • Economics
    2010 IEEE International Conference on Robotics and Automation
  • 2010
It is demonstrated that EPC can enable a robot in a fixed position to robustly pull open a variety of doors and drawers, and infer their kinematics without detailed prior models.

The rise of the robot worker

In the center of an otherwise unremarkable office stand six large robotic torsos mounted on pedestals and positioned along a bench that's covered with piles of plastic widgets.

Sultans of solder [Hands On]

It's a Tuesday night in Philadelphia-hacker time, and a small group of do-it-yourself engineers and hipster geeks gather in a cluttered space downtown to take the Kinect apart to see if they can get it to work with a shoot-'em-up space game for which it wasn't intended.

Materials And Design The Art And Science Of Material Selection In Product Design

Thank you for reading materials and design the art and science of material selection in product design, instead of enjoying a good book with a cup of coffee in the afternoon, instead they cope with some infectious virus inside their computer.

System Identification: Theory for the User

Das Buch behandelt die Systemidentifizierung in dem theoretischen Bereich, der direkte Auswirkungen auf Verstaendnis und praktische Anwendung der verschiedenen Verfahren zur Identifizierung hat. Da