Development, Analysis, and Control of Series Elastic Actuator-Driven Robot Leg
The mass-spring system-like behavior is a powerful analysis tool to simplify human running/locomotion and is also known as the Spring Loaded Inverted Pendulum (SLIP) model. Beyond being just an analysis tool, the SLIP model is utilized as a template for implementing human-like locomotion by using th...
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Frontiers Media S.A.
2019-05-01
|
| Series: | Frontiers in Neurorobotics |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/article/10.3389/fnbot.2019.00017/full |
| _version_ | 1818773075873759232 |
|---|---|
| author | Chan Lee Sehoon Oh |
| author_facet | Chan Lee Sehoon Oh |
| author_sort | Chan Lee |
| collection | DOAJ |
| description | The mass-spring system-like behavior is a powerful analysis tool to simplify human running/locomotion and is also known as the Spring Loaded Inverted Pendulum (SLIP) model. Beyond being just an analysis tool, the SLIP model is utilized as a template for implementing human-like locomotion by using the articulated robot. Since the dynamics of the articulated robot exhibits complicated behavior when projected into the operational space of the SLIP template, various considerations are required, from the robot's mechanical design to its control and analysis. Hence, the required technologies are the realization of pure mass-spring behavior during the interaction with the ground and the robust position control capability in the operational space of the robot. This paper develops a robot leg driven by the Series Elastic Actuator (SEA), which is a suitable actuator system for interacting with the environment, such as the ground. A robust hybrid control method is developed for the SEA-driven robot leg to achieve the required technologies. Furthermore, the developed robot leg has biarticular coordination, which is a human-inspired design that can effectively transmit the actuator torque to the operational space. This paper also employs Rotating Workspace (RW), which specializes in the control of the biarticulated robots. Various experiments are conducted to verify the performance of the developed robot leg with the control methodology. |
| first_indexed | 2024-12-18T10:19:29Z |
| format | Article |
| id | doaj.art-ed9bfa9d825b4d6eb02d44cac35f2585 |
| institution | Directory Open Access Journal |
| issn | 1662-5218 |
| language | English |
| last_indexed | 2024-12-18T10:19:29Z |
| publishDate | 2019-05-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Neurorobotics |
| spelling | doaj.art-ed9bfa9d825b4d6eb02d44cac35f25852022-12-21T21:11:11ZengFrontiers Media S.A.Frontiers in Neurorobotics1662-52182019-05-011310.3389/fnbot.2019.00017450201Development, Analysis, and Control of Series Elastic Actuator-Driven Robot LegChan LeeSehoon OhThe mass-spring system-like behavior is a powerful analysis tool to simplify human running/locomotion and is also known as the Spring Loaded Inverted Pendulum (SLIP) model. Beyond being just an analysis tool, the SLIP model is utilized as a template for implementing human-like locomotion by using the articulated robot. Since the dynamics of the articulated robot exhibits complicated behavior when projected into the operational space of the SLIP template, various considerations are required, from the robot's mechanical design to its control and analysis. Hence, the required technologies are the realization of pure mass-spring behavior during the interaction with the ground and the robust position control capability in the operational space of the robot. This paper develops a robot leg driven by the Series Elastic Actuator (SEA), which is a suitable actuator system for interacting with the environment, such as the ground. A robust hybrid control method is developed for the SEA-driven robot leg to achieve the required technologies. Furthermore, the developed robot leg has biarticular coordination, which is a human-inspired design that can effectively transmit the actuator torque to the operational space. This paper also employs Rotating Workspace (RW), which specializes in the control of the biarticulated robots. Various experiments are conducted to verify the performance of the developed robot leg with the control methodology.https://www.frontiersin.org/article/10.3389/fnbot.2019.00017/fullbiarticular actuator coordinateseries elastic actuatorrotating workspaceleg force controlimpedance control |
| spellingShingle | Chan Lee Sehoon Oh Development, Analysis, and Control of Series Elastic Actuator-Driven Robot Leg Frontiers in Neurorobotics biarticular actuator coordinate series elastic actuator rotating workspace leg force control impedance control |
| title | Development, Analysis, and Control of Series Elastic Actuator-Driven Robot Leg |
| title_full | Development, Analysis, and Control of Series Elastic Actuator-Driven Robot Leg |
| title_fullStr | Development, Analysis, and Control of Series Elastic Actuator-Driven Robot Leg |
| title_full_unstemmed | Development, Analysis, and Control of Series Elastic Actuator-Driven Robot Leg |
| title_short | Development, Analysis, and Control of Series Elastic Actuator-Driven Robot Leg |
| title_sort | development analysis and control of series elastic actuator driven robot leg |
| topic | biarticular actuator coordinate series elastic actuator rotating workspace leg force control impedance control |
| url | https://www.frontiersin.org/article/10.3389/fnbot.2019.00017/full |
| work_keys_str_mv | AT chanlee developmentanalysisandcontrolofserieselasticactuatordrivenrobotleg AT sehoonoh developmentanalysisandcontrolofserieselasticactuatordrivenrobotleg |