The DOI matches its Crossref record; 15 of the 15 references it cites were found in a registry or an index.
Series elastic actuator development for a biomimetic walking robot
Abstract
Series elastic actuators have linear springs intentionally placed in series between the motor and actuator output. The spring strain is measured to get an accurate estimate of force. A second order linear actuator model is broken into two fundamental cases: fixed load-high force (forward transfer function), and free load-zero force (impedance). This model is presented with dimensional analysis and extends previous linear models to include friction. Using the model and dimensionless groups, we examine nonlinear effects of motor saturation as it relates to large force bandwidth and nonlinear friction effects such as stiction. The model also helps to clarify how the springs help and hinder the operation of the actuator. The information gained from the model helps to create a design procedure for series elastic actuators. Particular emphasis is placed on choosing the spring constant for the elastic element.
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Cites
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Modeling and Control of Elastic Joint Robots
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Cited by
Veneman, J. F., Ekkelenkamp, R., Kruidhof, R., van der Helm, F. C. T., & van der Kooij, H. (2006) · The International Journal of Robotics Research · doi:10.1177/0278364906063829 · Cited by 428
Kong, K., Bae, J., & Tomizuka, M. (2009) · IEEE/ASME Transactions on Mechatronics · doi:10.1109/tmech.2008.2004561 · Cited by 426
Metadata
- Authors
- Robinson, D. W., Pratt, J. E., Paluska, D. J., & Pratt, G. A.
- Venue
- 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (Cat. No.99TH8399)
- Publisher
- IEEE
- Published
- 1999
- Pages
- 561-568
- ISSN
- 2159-6247 (ISSN-L)
- OpenAlex
- W2158641070
- Cited by
- 409
- References
- 15
- FWCI
- 14.15
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Robinson, D. W., Pratt, J. E., Paluska, D. J., & Pratt, G. A. (1999). Series elastic actuator development for a biomimetic walking robot. 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (Cat. No.99TH8399). https://doi.org/10.1109/aim.1999.803231
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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