Design of a Modular Series Elastic Upgrade to a Robotics Actuator

  • Leandro Tomé Martins
  • Roberta de Mendonça Pretto
  • Reinhard Gerndt
  • Rodrigo da Silva Guerra
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8992)

Abstract

In this article we present a compact and modular device designed to allow a conventional stiff servo actuator to be easily upgraded into a series elastic actuator (SEA). This is a low cost, open source and open hardware solution including mechanical CAD drawings, circuit schematics, board designs and firmware code. We present a complete overview of the project as well as a case study where we show the device being employed as an upgrade to add compliance to the knee joints of an existing humanoid robot design.

Keywords

Series elastic actuator Passive compliance 

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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  • Leandro Tomé Martins
    • 1
    • 2
  • Roberta de Mendonça Pretto
    • 1
    • 2
  • Reinhard Gerndt
    • 2
  • Rodrigo da Silva Guerra
    • 1
  1. 1.Centro de TecnologiaUniv. Federal de Santa MariaSanta MariaBrazil
  2. 2.Department of Computer SciencesOstfalia University of Applied SciencesWolfenbüttelGermany

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