|
|
|
|
RI | Publications | An Actuator with Mechanically Adjustable Series Compliance
|
|
Text only version of this site
An Actuator with Mechanically Adjustable Series Compliance
J.W. Hurst, J. Chestnutt, and A. Rizzi
tech. report CMU-RI-TR-04-24, Robotics Institute, Carnegie Mellon University, April, 2004.
Jump to: Download | Abstract | Notes | Text Reference | BibTeX Reference
| Download [Help] |
Adobe portable document format (pdf) [663 KB] Compressed postscript (ps.gz) [856 KB]
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.
| 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.
| Notes |
Associated lab/group: Microdynamic Systems Laboratory
Associated projects: Actuator with Mechanically Adjustable Series Compliance and The Electric Cable Differential (ECD) Leg
Number of pages: 26
| Text Reference |
J.W. Hurst, J. Chestnutt, and A. 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",
institution = "Robotics Institute, Carnegie Mellon University",
month = "April",
year = "2004",
number = "CMU-RI-TR-04-24",
address = "Pittsburgh, PA"
}