Combining series elastic actuation and magneto-rheological damping for the control of agile locomotion

García Armada, Elena and Arévalo, Juan Carlos and Muñoz, Gustavo and González de Santos, Pablo (2011). Combining series elastic actuation and magneto-rheological damping for the control of agile locomotion. "Robotics And Autonomous Systems", v. 59 (n. 10); pp. 827-839. ISSN 09218890. https://doi.org/10.1016/j.robot.2011.06.006.

Description

Title: Combining series elastic actuation and magneto-rheological damping for the control of agile locomotion
Author/s:
  • García Armada, Elena
  • Arévalo, Juan Carlos
  • Muñoz, Gustavo
  • González de Santos, Pablo
Item Type: Article
Título de Revista/Publicación: Robotics And Autonomous Systems
Date: October 2011
ISSN: 09218890
Volume: 59
Subjects:
Faculty: Otros Centros UPM
Department: Otro
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

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-rheologicaldamping at the knee provide a 20 % reduction in the energy wasted in braking the knee during its extension in the leg stance phase.

More information

Item ID: 13775
DC Identifier: http://oa.upm.es/13775/
OAI Identifier: oai:oa.upm.es:13775
DOI: 10.1016/j.robot.2011.06.006
Deposited by: Memoria Investigacion
Deposited on: 15 Nov 2012 11:36
Last Modified: 21 Apr 2016 13:08
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