Series Elastic Actuators for legged robots
@inproceedings{Pratt2004SeriesEA, title={Series Elastic Actuators for legged robots}, author={Jerry E. Pratt and Benjamin T. Krupp}, booktitle={SPIE Defense + Commercial Sensing}, year={2004} }
Series Elastic Actuators provide many benefits in force control of robots in unconstrained environments. These benefits include high force fidelity, extremely low impedance, low friction, and good force control bandwidth. Series Elastic Actuators employ a novel mechanical design architecture which goes against the common machine design principal of "stiffer is better." A compliant element is placed between the gear train and driven load to intentionally reduce the stiffness of the actuator. A…
127 Citations
Design and Control of a Flexible Joint as a Hydraulic Series Elastic Actuator For Manipulation Applications
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- 2015
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- 2020
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- 2014
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- EngineeringSPIE Defense + Commercial Sensing
- 2006
We present the design and initial results of a power-autonomous planar monopedal robot. The robot is a gasoline powered, two degree of freedom robot that runs in a circle, constrained by a boom. The…
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This article presents a mechanical design structure for hydraulic actuators using the principle of series-elastic actuator, considering the restriction of mechanical structure, weight and size, as…
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A novel rotary series elastic actuator (RSEA) with a two-mode, or bimodal, elastic element was designed and tested. This device was developed to eliminate the compromise between human safety and…
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