R. Van Ham, B. Vanderborght, M. Van Damme, B. Verrelst and D. Lefeber (2006). "MACCEPA: the mechanically adjustable compliance and controllable equilibrium position actuator for 'controlled passive walking': Difference between revisions

From Control Systems Technology Group
Jump to navigation Jump to search
Line 13: Line 13:
The paper then mentions some of the leading research regarding designs of adaptive compliance combined with actuators: University of Pisa, Italy, [https://www.sciencedirect.com/science/article/pii/S0921889007000371?casa_token=0TX-J4mMrAkAAAAA:kRN3N-gbSkikLAgM7G6iLzicaUa8ZSULkifjpxcmwOYsOtZtBqzCu9kY7WUdvVo78VL6K7vzxg#b9] the Variable Stiffness Actuator (VIA), Georgia Institute of Technology, USA, [https://www.sciencedirect.com/science/article/pii/S0921889007000371?casa_token=0TX-J4mMrAkAAAAA:kRN3N-gbSkikLAgM7G6iLzicaUa8ZSULkifjpxcmwOYsOtZtBqzCu9kY7WUdvVo78VL6K7vzxg#b10] a Biologically Inspired Joint Stiffness Control, North-western University, MARIONET  [https://www.sciencedirect.com/science/article/pii/S0921889007000371?casa_token=0TX-J4mMrAkAAAAA:kRN3N-gbSkikLAgM7G6iLzicaUa8ZSULkifjpxcmwOYsOtZtBqzCu9kY7WUdvVo78VL6K7vzxg#b11]. These all describe mechanisms that use some elastic component to achieve features like human/animal joints.
The paper then mentions some of the leading research regarding designs of adaptive compliance combined with actuators: University of Pisa, Italy, [https://www.sciencedirect.com/science/article/pii/S0921889007000371?casa_token=0TX-J4mMrAkAAAAA:kRN3N-gbSkikLAgM7G6iLzicaUa8ZSULkifjpxcmwOYsOtZtBqzCu9kY7WUdvVo78VL6K7vzxg#b9] the Variable Stiffness Actuator (VIA), Georgia Institute of Technology, USA, [https://www.sciencedirect.com/science/article/pii/S0921889007000371?casa_token=0TX-J4mMrAkAAAAA:kRN3N-gbSkikLAgM7G6iLzicaUa8ZSULkifjpxcmwOYsOtZtBqzCu9kY7WUdvVo78VL6K7vzxg#b10] a Biologically Inspired Joint Stiffness Control, North-western University, MARIONET  [https://www.sciencedirect.com/science/article/pii/S0921889007000371?casa_token=0TX-J4mMrAkAAAAA:kRN3N-gbSkikLAgM7G6iLzicaUa8ZSULkifjpxcmwOYsOtZtBqzCu9kY7WUdvVo78VL6K7vzxg#b11]. These all describe mechanisms that use some elastic component to achieve features like human/animal joints.
==Actuator shape==
==Actuator shape==
This design is evaluated in detail in the paper.
[[File:image_actuator_1212.png]]
[[File:image_actuator_1212.png]]

Revision as of 07:59, 25 February 2021

Summary

Main idea

Robots can be stiff and rigid, but that is not the only option that one has when creating a robot. In order to make robots move more human-like, a mechanism is introduced where actuators with "adaptive compliance" are created tested:

  • “Nowadays, more and more research groups working on bipeds have started to believe that natural biped walking is a combination of both approaches, requiring actuators with adaptable compliance (inverse of stiffness), resulting in energy efficient walking at different speeds.”
  • “Human joints are actuated by at least two muscle groups, giving them the possibility to change the stiffness of a joint and to control the equilibrium position. By controlling both the compliance and the equilibrium positions, a variety of natural motions is possible, requiring a minimal energy input to the system.”

Benefits

This approach is was created in order to achieve three main goals, namely:

  • better energy efficiency
  • better control over the force of robot "actions"
  • better balance

Previous research

The paper then mentions some of the leading research regarding designs of adaptive compliance combined with actuators: University of Pisa, Italy, [1] the Variable Stiffness Actuator (VIA), Georgia Institute of Technology, USA, [2] a Biologically Inspired Joint Stiffness Control, North-western University, MARIONET [3]. These all describe mechanisms that use some elastic component to achieve features like human/animal joints.

Actuator shape

This design is evaluated in detail in the paper. Image actuator 1212.png