The Actuator With Mechanically Adjustable Series Compliance

An actuator with mechanically adjustable series compliance

Running is a complex dynamic task which places strict requirements on both the physical components and software control systems of a robot. This report explores some of those requirements and in particular explores how a variable compliance actuation system can satisfy many of them. We present the mechanical design and software control of such an actuator system. We analyze its performance thro...

MACCEPA: the Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator used in the ‘Controlled Passive Walking’ biped Veronica

In this paper a novel rotational actuator with adaptable compliance is presented. First the importance of adaptable compliance for bipedal walking is explained, and then a number of comparable designs are given with their possible drawbacks. The MACCEPA concept and design is described in detail. The formula to calculate the generated torque is derived. It is shown, depending on the design param...

Mechanically stiffness-adjustable actuator using a leaf spring for safe physical human-robot interaction

MACCEPA: the Actuator with Adaptable Compliance for Dynamic Walking Bipeds

Walking robots can be divided into two categories: on one hand the fully actuated robots that don’t use passive dynamics, and on the other hand the energy efficient passive walkers. For autonomous robots the energy storage is a problem, forecasting a bright future for passive walkers. At this moment the passive walkers are restricted to one walking speed due to the eigenfrequency, which is fixe...

The Design and Application of a Nonlinear Series Compliance Actuator for Use in Robotic Arms

The work presented here addresses the problem of providing robotic manipulators with improved force control and force sensing capabilities. A nonlinear compliant element for use in cable driven robotic manipulators was designed and built. The compliant element provides a nonlinear (exponential) force displacement behavior. This device is similar to the human hand in that it provides a large dyn...