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Annual Conference Towards Autonomous Robotic Systems

TAROS 2020: Towards Autonomous Robotic Systems pp 53–57Cite as

A Low Cost Series Elastic Actuator Test Bench

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Part of the Lecture Notes in Computer Science book series (LNAI,volume 12228)

Abstract

The concept of compliance relates to a robot’s capability to exert, absorb, and measure forces acting on its joints. The existing research currently available for compliant actuators is promising, but prohibitively expensive, posing a fiscal entry barrier to research.

This paper presents a low cost Series Elastic Actuator test bench, as an initial work towards a modular compliant actuator toolkit (MCAT).

Keywords

  • Compliance
  • Variable stiffness
  • Series elastic actuator
  • Robotics

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Author information

Authors and Affiliations

  1. School of Engineering, Computing and Mathematics, University of Plymouth, Drake Circus, Plymouth, PL4 8AA, UK

    Oliver Smith & Swen E. Gaudl

Authors
  1. Oliver Smith
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  2. Swen E. Gaudl
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Corresponding authors

Correspondence to Oliver Smith or Swen E. Gaudl .

Editor information

Editors and Affiliations

  1. Faculty of Engineering, University of Nottingham, Nottingham, UK

    Dr. Abdelkhalick Mohammad

  2. Faculty of Engineering, University of Nottingham, Nottingham, UK

    Xin Dong

  3. Faculty of Engineering, University of Nottingham, Nottingham, UK

    Matteo Russo

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Smith, O., Gaudl, S.E. (2020). A Low Cost Series Elastic Actuator Test Bench. In: Mohammad, A., Dong, X., Russo, M. (eds) Towards Autonomous Robotic Systems. TAROS 2020. Lecture Notes in Computer Science(), vol 12228. Springer, Cham. https://doi.org/10.1007/978-3-030-63486-5_6

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  • DOI: https://doi.org/10.1007/978-3-030-63486-5_6

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-63485-8

  • Online ISBN: 978-3-030-63486-5

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