Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Youngrae | - |
dc.contributor.author | Choi, Sunghyun | - |
dc.contributor.author | Song, Jinhyeok | - |
dc.contributor.author | Yun, Dongwon | - |
dc.date.accessioned | 2024-02-09T02:40:15Z | - |
dc.date.available | 2024-02-09T02:40:15Z | - |
dc.date.created | 2023-10-25 | - |
dc.date.issued | 2023-05-31 | - |
dc.identifier.isbn | 9798350323658 | - |
dc.identifier.issn | 1050-4729 | - |
dc.identifier.uri | http://hdl.handle.net/20.500.11750/47920 | - |
dc.description.abstract | This study proposes a modular Multi-axis Elastic Actuator (MAEA) for legged robots that can effectively cope with impacts that may occur during dynamic maneuvering. MAEA has multi-axis compliance and can measure the torque without additional encoders. Therefore, effective impact resistance is possible with less volume and weight than conventional Series Elastic Actuators (SEA). The 6-axis stiffness analysis of paired-Crossed Flexural Hinge (p-CFH) is extended from small deformation to large deformation, and the accuracy is verified through Finite Element Analysis (FEA) and experiments. Based on the analysis, the torque of p-CFH is measured, and feedback torque control is also performed. Finally, the robot leg was constructed with MAEA, and the multi-axis impact resistance performance of MAEA was demonstrated by analyzing the applied impact during landing experiments at various angles. © 2023 IEEE. | - |
dc.language | English | - |
dc.publisher | IEEE Robotics and Automation Society | - |
dc.title | Modular Multi-axis Elastic Actuator with Torque Sensing Capable p-CFH for Highly Impact Resistive Robot Leg | - |
dc.type | Conference Paper | - |
dc.identifier.doi | 10.1109/ICRA48891.2023.10161131 | - |
dc.identifier.scopusid | 2-s2.0-85168667183 | - |
dc.identifier.bibliographicCitation | The International Conference on Robotics and Automation, pp.7331 - 7337 | - |
dc.identifier.url | https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=10160362 | - |
dc.citation.conferencePlace | UK | - |
dc.citation.conferencePlace | London | - |
dc.citation.endPage | 7337 | - |
dc.citation.startPage | 7331 | - |
dc.citation.title | The International Conference on Robotics and Automation | - |
There are no files associated with this item.