Cited 0 time in
Cited 0 time in
Development, Analysis, and Control of Series Elastic Actuator-Driven Robot Leg
- Development, Analysis, and Control of Series Elastic Actuator-Driven Robot Leg
- Lee, Chan; Oh, Sehoon
- DGIST Authors
- Oh, Sehoon
- Issue Date
- Frontiers in Neurorobotics, 13
- Article Type
- Author Keywords
- biarticular actuator coordinate; series elastic actuator; rotating workspace; leg force control; impedance control
- MUSCLE COORDINATION; HUMAN WALKING; DYNAMICS; BIOMECHANICS; MOVEMENT; DESIGN; MODEL
- The mass-spring system-like behavior is a powerful analysis tool to simplify human running/locomotion and is also known as the Spring Loaded Inverted Pendulum (SLIP) model. Beyond being just an analysis tool, the SLIP model is utilized as a template for implementing human-like locomotion by using the articulated robot. Since the dynamics of the articulated robot exhibits complicated behavior when projected into the operational space of the SLIP template, various considerations are required, from the robot’s mechanical design to its control and analysis. Hence, the required technologies are the realization of pure mass-spring behavior during the interaction with the ground and the robust position control capability in the operational space of the robot. This paper develops a robot leg driven by the Series Elastic Actuator (SEA), which is a suitable actuator system for interacting with the environment, such as the ground. A robust hybrid control method is developed for the SEA-driven robot leg to achieve the required technologies. Furthermore, the developed robot leg has biarticular coordination, which is a human-inspired design that can effectively transmit the actuator torque to the operational space. This paper also employs Rotating Workspace (RW), which specializes in the control of the biarticulated robots. Various experiments are conducted to verify the performance of the developed robot leg with the control methodology. Copyright © 2019 Lee and Oh.
- Frontiers Media S.A.
- Related Researcher
MCL(Motion Control Lab)
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
- Department of Robotics EngineeringMCL(Motion Control Lab)1. Journal Articles
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.