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Development, Analysis, and Control of Series Elastic Actuator-Driven Robot Leg

Title
Development, Analysis, and Control of Series Elastic Actuator-Driven Robot Leg
Authors
Lee, ChanOh, Sehoon
DGIST Authors
Oh, Sehoon
Issue Date
2019-05
Citation
Frontiers in Neurorobotics, 13
Type
Article
Article Type
Article
Author Keywords
biarticular actuator coordinateseries elastic actuatorrotating workspaceleg force controlimpedance control
Keywords
MUSCLE COORDINATIONHUMAN WALKINGDYNAMICSBIOMECHANICSMOVEMENTDESIGNMODEL
ISSN
1662-5218
Abstract
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.
URI
http://hdl.handle.net/20.500.11750/9864
DOI
10.3389/fnbot.2019.00017
Publisher
Frontiers Media S.A.
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
Files:
Collection:
Department of Robotics EngineeringMCL(Motion Control Lab)1. Journal Articles


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