Abstract
The design concept of compliant actuator dedicated for humanoid robot is presented. Actuator consists of DC motor with serial and parallel springs. Evaluation of motor parameters and selection of springs’ parameters was performed considering human motion data. Correctness of proposed design was justified by simulation. The following the reference trajectories for knee joint was investigated. Obtained results confirmed that the proposed concept of compliant actuator performs well with decreasing the motor power demand.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Notes
- 1.
Data used for gait reconstruction were collected at Pracownia Diagnostyki Narzadu Ruchu at Warsaw children’s hospital Instytut Pomnik—Centrum Zdrowia Dziecka. Authors thank to professor Malgorzata Syczewska, the hospital’s Director, for her help and support during experiments.
References
Bhounsule, P. A., Cortell, J., & Ruina, A. (2012). Design and control of ranger: an energy-efficient, dynamic walking robot. In Proceedings of the Fifteenth International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (pp. 441–448).
Grimmer, M., Eslamy, M., Gleich, S., & Seyfarth, A. (2012). A comparison of parallel-and series elastic elements in an actuator for mimicking human ankle joint in walking and running. In IEEE International Conference on Robotics and Automation.
Hashimoto, K., Takezaki, Y., Hattori, K., Kondo, H., Takashima, T., Lim, H., et al. (2010). A study of function of the human’s foot arch structure using biped humanoid robot. In IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 2206–2211).
Hashimoto, K., Motohashi, H., Takashima, T., Lim, H., & Takanishi, A. (2013). Shoes-wearable foot mechanism mimicking characteristics of human’s foot arch and skin. In Proceedings of the 2013 IEEE International Conference on Robotics and Automation (pp. 678–683).
Hauser, H., Neumann, G., & Ijspeert, A. J. (2007). Biologically inspired kinematic synergies provide a new paradigm for balance control of humanoid robots. In IEEE-RAS International Conference on Humanoid Robots (pp. 73–80).
Kajita, S., Kanehiro, F., Kaneko, K., Yokoi, K., & Hirukawa, H. (2001). The 3D linear inverted pendulum mode: A simple modeling for a biped walking pattern generation. In IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 239–246).
Komura, T., Nagano, A., Leung, H., & Shinagawa, Y. (2005). Simulating pathological gait using the enhanced linear inverted pendulum model (pp. 1502–1513).
Kondo, H., Morishima, A., Ogura, Y., Momoki, S., Shimizu, J., Lim, H., et al. (2008). Algorithm of pattern generation for mimicking disabled person’s gaitl. In IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (pp. 724–729).
McGeer, T. (1990). Passive dynamic walking. The International Journal of Robotics Research.
Otani, T., Iizuka, A., Takamoto, D., Motohashi, H., Kishi, T., Kryczka, P., et al. (2013). Algorithm of pattern generation for mimicking disabled person’s gaitl. In Proceedings of the 2013 IEEE International Conference on Robotics and Automation (pp. 659–664).
Pratt, G. A., & Williamson, M. M. (1995). Series elastic actuators.
Tsagarakis, N. G., Laffranchi, M., Vanderborght, B., & Caldwell, D. G. (2009). A compact soft actuator unit for small scale human friendly robots (pp. 4356–4362).
Vasilescu, M., & Alex, O. (2002). Human motion signatures: Analysis, synthesis, recognition. In International Conference on Pattern Recognition (pp. 456–460).
Wensing, P. M., & Orin, D. E. (2013). High-speed humanoid running through control with a 3D-slip model. In IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 5134–5140).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 CISM International Centre for Mechanical Sciences
About this paper
Cite this paper
Zurawska, M.S., Szumowski, M., Zielinska, T. (2016). Compliant Actuator Dedicated for Humanoidal Robot—Design Concept. In: Parenti-Castelli, V., Schiehlen, W. (eds) ROMANSY 21 - Robot Design, Dynamics and Control. ROMANSY21 2016. CISM International Centre for Mechanical Sciences, vol 569. Springer, Cham. https://doi.org/10.1007/978-3-319-33714-2_33
Download citation
DOI: https://doi.org/10.1007/978-3-319-33714-2_33
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-33713-5
Online ISBN: 978-3-319-33714-2
eBook Packages: EngineeringEngineering (R0)