Improving Legged Robot Hopping by Using Coupling-Based Series Elastic Actuation

This paper investigates the use of discrete couplings in series elastic actuation in order to increase variability of dynamic legged robot locomotion. The couplings are capable of engaging and disengaging the connection between an actuation element and a mechanical spring in real time such that the...

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Veröffentlicht in:	IEEE/ASME transactions on mechatronics 2019-04, Vol.24 (2), p.413-423
Hauptverfasser:	Guenther, Fabian, Vu, Hung Quy, Iida, Fumiya
Format:	Artikel
Sprache:	eng
Schlagworte:	Actuation Actuators Controllability Coupling-based series elastic actuation (CB-SEA) Couplings discrete couplings dynamic legged robots Elasticity Force Friction Iron Legged locomotion Locomotion mechanism design Performance enhancement Robot control Robot dynamics Robots Springs Stability
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