Memorias de investigación
Artículos en revistas:
Combining series elastic actuation and magneto-rheological damping for the control of agile locomotion
Año:2011
Áreas de investigación
  • Ingeniería eléctrica, electrónica y automática
Datos
Descripción
All-terrain robot locomotion is an active topic of research. Search and rescue maneuvers and exploratory missions could benefit from robots with the abilities of real animals. However, technological barriers exist to ultimately achieving the actuation system, which is able to meet the exigent requirements of these robots. This paper describes the locomotioncontrol of a leg prototype, designed and developed to make a quadruped walk dynamically while exhibiting compliant interaction with the environment. The actuation system of the leg is based on the hybrid use of series elasticity and magneto-rheological dampers, which provide variable compliance for natural-looking motion and improved interaction with the ground. The locomotioncontrol architecture has been proposed to exploit natural leg dynamics in order to improve energy efficiency. Results show that the controller achieves a significant reduction in energy consumption during the leg swing phase thanks to the exploitation of inherent leg dynamics. Added to this, experiments with the real leg prototype show that the combined use of series elasticity and magneto-rheological damping at the knee provide a 20 % reduction in the energy wasted in braking the knee during its extension in the leg stance phase.
Internacional
No
JCR del ISI
No
Título de la revista
Robotics And Autonomous Systems
ISSN
09218890
Factor de impacto JCR
Información de impacto
Volumen
59
DOI
10.1016/j.robot.2011.06.006
Número de revista
10
Desde la página
827
Hasta la página
839
Mes
SIN MES
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Participantes
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC