The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

Running is a complex dynamic task which places strict requirements on both the physical components and software control systems of a robot. This report explores some of those requirements and in particular explores how a variable compliance actuation system can satisfy many of them. We present the mechanical design and software control of such an actuator system. We analyze its performance through simulation and benchtop experimental validation of a prototype version. In conclusion we demonstrate, through simulation, the application of our prototype actuator to the problem of biped running.

Keywords

actuators, control, legged locomotion, mechanisms

Notes

Associated Lab(s) / Group(s): Microdynamic Systems Laboratory

Associated Project(s): Actuator with Mechanically Adjustable Series Compliance and The Electric Cable Differential (ECD) Leg

Number of pages: 26

Text Reference

Jonathan W. Hurst, Joel Chestnutt, and Alfred Rizzi, "An Actuator with Mechanically Adjustable Series Compliance," tech. report CMU-RI-TR-04-24, Robotics Institute, Carnegie Mellon University, April, 2004

BibTeX Reference

@techreport{Hurst_2004_4662,
   author = "Jonathan W Hurst and Joel Chestnutt and Alfred Rizzi",
   title = "An Actuator with Mechanically Adjustable Series Compliance",
   booktitle = "",
   institution = "Robotics Institute",
   month = "April",
   year = "2004",
   number= "CMU-RI-TR-04-24",
   address= "Pittsburgh, PA",
}

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