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Configuration and performance analysis of a compact planetary geared Elastic Actuator

Title
Configuration and performance analysis of a compact planetary geared Elastic Actuator
Authors
Lee, ChanOh, Sehoon
DGIST Authors
Oh, Sehoon
Issue Date
2016-10-24
Citation
42nd Conference of the Industrial Electronics Society, IECON 2016, 6391-6396
Type
Conference
Abstract
Safety, compliance and human-friendliness are trending keywords in robotics now. The most significant reason for the growth in the use of these keywords is the progress of the service robot interacting with environments, including humans. Following these trends, Series Elastic Actuator (SEA) has received a large attention as a promising actuator in this field. Consequently, various SEA mechanisms have been developed by a lot of researchers ever since it was firstly introduced in 1990s. In spite of the development and applications at various SEAs, there still are challenging problems: backlash of gear reducer, encoder resolution problem, spring non-linearity, limited working range, etc. © 2016 IEEE.
URI
http://hdl.handle.net/20.500.11750/5458
DOI
10.1109/IECON.2016.7793816
Publisher
IEEE Computer Society
Related Researcher
  • Author Oh, Sehoon MCL(Motion Control Lab)
  • Research Interests Research on Human-friendly motion control; Development of human assistance;rehabilitation system; Design of robotic system based on human musculoskeletal system; Analysis of human walking dynamics and its application to robotics; 친인간적인 운동제어 설계연구; 인간 보조;재활 시스템의 설계 및 개발연구; 인간 근골격계에 기초한 로봇기구 개발연구; 보행운동 분석과 모델 및 로봇기구에의 응용
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Collection:
Department of Robotics EngineeringMCL(Motion Control Lab)2. Conference Papers


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