Actuator design for high force proprioceptive control in fast legged locomotion

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2012, Pages 1970-1975

  Seok, Sangok ^a   Wang, Albert ^a   Otten, David ^a   Kim, Sangbae ^a  

^a Massachusetts Institute of Technology Cambridge   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATOR DESIGN; CRITICAL CHALLENGES; DIMENSIONAL ANALYSIS; FORCE PROFILE; FORCE SENSOR; FULL SCALE; HIGH ACCELERATION; IMPACT FORCE; IMPACT TEST; LEGGED LOCOMOTION; MATERIAL TESTING; MEAN ABSOLUTE ERROR; MECHANICAL IMPEDANCES; TORQUE DENSITY; VERTICAL STIFFNESS;

EXPERIMENTS; INTELLIGENT SYSTEMS; SENSORS; STIFFNESS;

ACTUATORS;

EID: 84872358487     PISSN: 21530858     EISSN: 21530866     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2012.6386252     Document Type: Conference Paper

References (37)

1. I. Hunter and S. Lafontaine, "A comparison of muscle with artificial actuators", in Tech. Dig. IEEE Solid State Sensors Actuators Workshop, pp. 178-185, 1992.
2. M. F. Bobbert and M. R. Yeadon and B. M. Nigg, "Mechanical analysis of the landing phase in heel-toe running", Journal of Biomechanics, Vol. 25, no. 3, page, 223-234, 1992.
3. R. M. Walter and D. R. Carrier, "Ground forces applied by galloping dogs", J Exp Biol, vol. 210, no. 2, pp. 208-216, 2007.
4. L. D. Maes, M. Herbin, R. Hackert, V. L. Bels, and A. Abourachid, "Steady locomotion in dogs: temporal and associated spatial coordination patterns and the effect of speed", J Exp Biol, vol. 211, no. 1, pp. 138-149, 2008.
5. Lee, Y-T, H-R Choi, W-K Chung and Y. Youm, "Stiffness Control of a Coupled Tendon-Driven Robot Hand", IEEE Control Systems, pp.10-19, 1994.
6. K. Koganezawa, "Back-drivable and Inherently Safe Mechanism for Artificial Finger", Proceedings of Robotics: Science and Systems, June, 2010, Zaragoza, Spain
7. Puddy, B., Hunter, I., "Design and optimization strategies for musclelike direct-drive linear permanent-magnet motors", The International Journal of Robotics Research June 2011 30: 834-845.
8. Ishida, T., Takanishi, A., "A Robot Actuator Development With High Backdrivability", Robotics, IEEE Conference on Automation and Mechatronics, p 1-6, June 2006
9. Goldfarb, M., Barth, E., Gogola, M. Wehrmeyer, J., "Design and Energetic Characterization of a Liquid-Propellant-Powered Actuator for Self-Powered Robots", IEEE / ASME Trans Mechatronics, Vol. 8, pp. 254-262.
10. S. P. Buerger and N. Hogan., "Novel Actuation Methods for High Force Haptics", Advances in Haptics 2010, Mehrdad Hosseini Zadeh (Ed.), ISBN: 978-953-307-093-3, InTech.
11. Massie, T., Salisbury, K., "The PHANTOM Haptic Interface: A Device for Probing Virtual Objects", Proc. ASME Winter Annual Meeting, Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems.
12. Pratt, G., Williamson, M., "Series Elastic Actuators", Proc. IEEE/RSJ Int Conf on Human Robot Interaction and Cooperative Robots, 1995, pp. 399-406.
13. Kim, B.S., Song, J.B., Park, J.J., "Serial-Type Dual Actuator Unit With Planetary Gear Train: Basic Design and Applications", IEEE/ASME Transactions on Mechatronics, Vol. 15, No. 1, Feb, 2010
14. Koganezawa, K., "Mechanical stiffness control for antagonistically driven joints", in Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ, August 2005, pp. 2512-2519.
15. Tonietti, G., Schiavi, R., and Bicchi, A., "Design and control of a variable stiffness actuator for safe and fast physical human/robot interaction", in Proc. 2005 IEEE International Conference on Robotics and Automation, April 2005, pp. 582-533.
16. Hurst, J. W., Chestnutt. J. E., and Rizzi, A. A., "An actuator with physically variable stiffness for highly dynamic legged locomotion", in Proc. of IEEE International Conference on Robotics and Automation. New Orleans, LA, USA: IEEE, April 2004, pp. 4662-4667.
17. Shin, D.,Sardellitti, I., Park, Y.L., Khatib, O., Cutkosky M. "Design and Control of a Bio-Inspired Human-Friendly Robot", The International Journal of Robotics Research April 2010 vol. 29 no. 5 571-584.
18. Migliore, S.A., Brown, E.A., DeWeerth, S.P., "Novel nonlinear elastic actuators for passively controlling robotic joint compliance", Journal of Mechanical Design 129(4):406-412, 2007.
19. H. Asada, K.Y. Toumi, Direct-Drive Robots, Theory and Practice, MIT Press, Cambridge, 1987.
20. Caldwell, D.G., Medrano-Cerda, G.A., Goodwin, M., "Control of pneumatic muscle actuators", Control Systems, IEEE, Issue Date: Feb 1995, Vol.15, 1, page(s): 40-48.
21. K. Galloway, J. Clark, and D. Koditschek, "Design of a tunable stiffness composite leg for dynamic locomotion", in ASME IDETC/CIE, 2009
22. He S., Gunda, R., Singh, R., "Effect of sliding friction on the dynamics of spur gear pair with realistic time-varying stiffness", Journal of Sound and Vibration Vol. 301, Issues 3-5, 3 April 2007, Pages 927-949.
23. Grotjahn, M., Daemi, M., Heimann, M., "Friction and rigid body identification of robot dynamics", International Journal of Solids and Structures Volume 38, Issues 10-13, March 2001, Pages 1889-1902.
24. REBBECHI, F. OSWALD and D. TOWNSEND, "Measurement of gear tooth dynamic friction", ASME, DE-Vol. 88, Proceedings of the 7th Power Transmission and Gearing Conference, (1996), pp. 355-363.
25. M. Raibert, "Trotting, pacing, and bounding by a quadruped robot", J. Biomechanics, 23, Suppl.1, 79-98,1990.
26. H. Kimura, Y. Fukuoka and A.H. Cohen, "Adaptive Dynamic Walking of a Quadruped Robot on Natural Ground based on Biological Concepts", Int. Journal of Robotics Research, Vol.26, No.5, pp.475-490, 2007.
27. M. Raibert, K. Blankespoor, G. Nelson, R. Playter and BigDog Team, "BigDog, the rough-terrain quadruped robot", 17th World Congress The International Federation of Automatic Control Seoul, Korea, July 6-11, 2008
28. I. Poulakakis and M. Buehler, "Modeling and experiments of untethered quadrupedal running with a bounding gait: the scout ii robot", International Journal of Robotics Research, 24(4):239-256, 2005.
29. C. R. Carignan and K. R. Cleary., "Closed-loop force control for haptic simulation of virtual environments" Haptics-e [Online], vol (2). Available: http://www.haptics-e.org.
30. C. Ott, A. Albu-Schaeffer, A. Kugi, and G. Hirzinger, "On the passivity based impedance control of flexible joint robots", IEEE Trans. Robot. Automat., vol. 24, no. 2, pp. 416-429, 2008.
31. G. Hirzinger, N. Sporer, A. Albu-Schaeffer, M. Haehnle, R. Krenn, A. Pascucci, and M. Schedl, "DLR's torque-controlled light weight robot: III. Are we reaching the technological limits now?", in Proc. Int. Conf. Robot. Automat. ICRA, Washington D.C., 2002, pp. 1710-1716.
32. S. D. Eppinger and W. P. Seering, "Three dynamic problems in robot force control", IEEE Trans. Robot. Automat., vol. 8, pp. 751-758, Dec.1992.
33. D. P. Ferris, M. Louie, and C. T. Farley, "Running in the real world: adjusting leg stiffness for different surfaces", Proceedings of the Royal Society B: Biological Sciences, vol. 265(1400), 1998.
34. C. T. Farley and O. Gonzalez, "Leg stiffness and stride frequency in human running", Journal of Biomechanics, vol. 29, no. 2, pp. 181-186, 1995.
35. http://www.teslamotors.com/
36. http://www.scorpionsystem.com/
37. Ananthanarayanan, A., Azadi, M., Kim, S.,"Towards the Bio-inspired Legs Design for High Speed Running", Accepted for publication in Journal of Bioinspiration and Biomimetics, July 2012 (accepted)