Abstract
The concept of compliance relates to a robot’s capability to exert, absorb, and measure forces acting on its joints. The existing research currently available for compliant actuators is promising, but prohibitively expensive, posing a fiscal entry barrier to research.
This paper presents a low cost Series Elastic Actuator test bench, as an initial work towards a modular compliant actuator toolkit (MCAT).
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Bicchi, A., Tonietti, A., Bavaro, M., Piccigallo, M.: Variable stiffness actuators for fast and safe motion control. IEEE/ASME Trans. Mechatron. 15(2), 1 (2005)
Gainsford, P.: KUKA.ForceTorqueControl 3.0. KUKA Roboter GmbH, KUKA Roboter GmbH, ZugspitzstraĂŸe 140, D-86165 Augsburg, Germany, 2 edn. (2013). an optional note
Grioli, G.: Variable stiffness actuators: The user’s point of view
Hemati, N., Thorp, J.S., Leu, M.C.: Robust nonlinear control of brushless dc motors for direct-drive robotic applications. IEEE Trans. Ind. Electron. 37(6), 460–468 (1990)
HernĂ¡ndez-GuzmĂ¡n, V.M., SantibĂ¡Ă±ez, V., Campa, R.: PID control of robot manipulators equipped with brushless DC motors. Robotica 27(2), 225–233 (2009). https://doi.org/10.1017/S026357470800461X
Hirzinger, G., Albu-Schaffer, A., Hahnle, M., Schaefer, I., Sporer, N.: On a new generation of torque controlled light-weight robots. In: Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164), vol. 4, pp. 3356–3363 (2001)
Petit, F., Friedl, W., Höppner, H., Grebenstein, M.: Analysis and synthesis of the bidirectional antagonistic variable stiffness mechanism. Robotics Research. The Eleventh International Symposium. Springer Tracts in Advanced Robotics 20(2), 684–695 (2015)
Pratt, G.A., Williamson, M.M.: Series elastic actuators. In: Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots, vol. 1, pp. 399–406. IEEE (1995)
Savin, S.: Control system design for two link robot arm with MACCEPA 2.0 variable stiffness actuators
Sugar, T.G.: A novel selective compliant actuator. Mechatronics 12(9–10), 1157–1171 (2002)
Van Ham, R.: Compliant actuator designs. IEEE Robot. Autom. Mag. 16(3), 81–94 (2009)
Vanderborght, B.: Variable impedance actuators: a review
Wolf, S.: Soft robotics with variable stiffness actuators: tough robots for soft human robot interaction. Soft Rob. 12(9–10), 1157–1171 (2015)
Author information
Authors and Affiliations
Corresponding authors
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Switzerland AG
About this paper
Cite this paper
Smith, O., Gaudl, S.E. (2020). A Low Cost Series Elastic Actuator Test Bench. In: Mohammad, A., Dong, X., Russo, M. (eds) Towards Autonomous Robotic Systems. TAROS 2020. Lecture Notes in Computer Science(), vol 12228. Springer, Cham. https://doi.org/10.1007/978-3-030-63486-5_6
Download citation
DOI: https://doi.org/10.1007/978-3-030-63486-5_6
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-63485-8
Online ISBN: 978-3-030-63486-5
eBook Packages: Computer ScienceComputer Science (R0)