EM-Act: A Modular Series Elastic Actuator for Dynamic Robots
The trend of current robotic research is to develop mobile robots that can perform highly dynamic tasks, which include jumping and running. To be employed profitably, this research necessitates a significant amount of work in the development of innovative planning and control algorithms that need ex...
Saved in:
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
IEEE
2024-01-01
|
| Series: | IEEE Open Journal of the Industrial Electronics Society |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10529546/ |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1841526351025143808 |
|---|---|
| author | Ramesh krishnan Muttathil Gopanunni Lorenzo Martignetti Francesco Iotti Alok Ranjan Franco Angelini Manolo Garabini |
| author_facet | Ramesh krishnan Muttathil Gopanunni Lorenzo Martignetti Francesco Iotti Alok Ranjan Franco Angelini Manolo Garabini |
| author_sort | Ramesh krishnan Muttathil Gopanunni |
| collection | DOAJ |
| description | The trend of current robotic research is to develop mobile robots that can perform highly dynamic tasks, which include jumping and running. To be employed profitably, this research necessitates a significant amount of work in the development of innovative planning and control algorithms that need experimental validation on actual robots. However, the majority of robots with highly dynamic performance capabilities are currently restricted to a few expensive platforms. This is a major obstacle that ultimately restricts the amount of contributors and the advancement of the research. Thus, a cost-effective actuator solution is needed that is also able to execute very dynamic movements. With this goal in mind, we present EM-Act, a modular series elastic actuator (SEA) for legged and multimodal dynamic robots. This work focuses on the development of the actuator solution by defining jump height as the prerequisite, identifying actuator parameters through simulations, and selecting and testing mechatronic elements of the design. The work also discusses a compact integration of desired compliance to address the impact forces. Furthermore, the work also details the implementation of the actuator solution on a 2-degree-of-freedom (DOF) robotic leg and experimentally validates its jumping performance. |
| format | Article |
| id | doaj-art-746aab12f8a4455488c85acdbe7b3046 |
| institution | Kabale University |
| issn | 2644-1284 |
| language | English |
| publishDate | 2024-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Open Journal of the Industrial Electronics Society |
| spelling | doaj-art-746aab12f8a4455488c85acdbe7b30462025-01-17T00:01:03ZengIEEEIEEE Open Journal of the Industrial Electronics Society2644-12842024-01-01546848010.1109/OJIES.2024.340005210529546EM-Act: A Modular Series Elastic Actuator for Dynamic RobotsRamesh krishnan Muttathil Gopanunni0https://orcid.org/0000-0002-9191-6940Lorenzo Martignetti1https://orcid.org/0000-0002-3029-8069Francesco Iotti2https://orcid.org/0009-0000-9257-6231Alok Ranjan3https://orcid.org/0000-0002-2612-2810Franco Angelini4https://orcid.org/0000-0003-2559-9569Manolo Garabini5https://orcid.org/0000-0002-5873-3173Centro di Ricerca “Enrico Piaggio,”, Università di Pisa, Pisa, ItalyCentro di Ricerca “Enrico Piaggio,”, Università di Pisa, Pisa, ItalyCentro di Ricerca “Enrico Piaggio,”, Università di Pisa, Pisa, ItalyCentro di Ricerca “Enrico Piaggio,”, Università di Pisa, Pisa, ItalyCentro di Ricerca “Enrico Piaggio,”, Università di Pisa, Pisa, ItalyCentro di Ricerca “Enrico Piaggio,”, Università di Pisa, Pisa, ItalyThe trend of current robotic research is to develop mobile robots that can perform highly dynamic tasks, which include jumping and running. To be employed profitably, this research necessitates a significant amount of work in the development of innovative planning and control algorithms that need experimental validation on actual robots. However, the majority of robots with highly dynamic performance capabilities are currently restricted to a few expensive platforms. This is a major obstacle that ultimately restricts the amount of contributors and the advancement of the research. Thus, a cost-effective actuator solution is needed that is also able to execute very dynamic movements. With this goal in mind, we present EM-Act, a modular series elastic actuator (SEA) for legged and multimodal dynamic robots. This work focuses on the development of the actuator solution by defining jump height as the prerequisite, identifying actuator parameters through simulations, and selecting and testing mechatronic elements of the design. The work also discusses a compact integration of desired compliance to address the impact forces. Furthermore, the work also details the implementation of the actuator solution on a 2-degree-of-freedom (DOF) robotic leg and experimentally validates its jumping performance.https://ieeexplore.ieee.org/document/10529546/Actuatorscompliancemobile robotsquadrupedsrapid prototypingseries elastic actuators (SEAs) |
| spellingShingle | Ramesh krishnan Muttathil Gopanunni Lorenzo Martignetti Francesco Iotti Alok Ranjan Franco Angelini Manolo Garabini EM-Act: A Modular Series Elastic Actuator for Dynamic Robots IEEE Open Journal of the Industrial Electronics Society Actuators compliance mobile robots quadrupeds rapid prototyping series elastic actuators (SEAs) |
| title | EM-Act: A Modular Series Elastic Actuator for Dynamic Robots |
| title_full | EM-Act: A Modular Series Elastic Actuator for Dynamic Robots |
| title_fullStr | EM-Act: A Modular Series Elastic Actuator for Dynamic Robots |
| title_full_unstemmed | EM-Act: A Modular Series Elastic Actuator for Dynamic Robots |
| title_short | EM-Act: A Modular Series Elastic Actuator for Dynamic Robots |
| title_sort | em act a modular series elastic actuator for dynamic robots |
| topic | Actuators compliance mobile robots quadrupeds rapid prototyping series elastic actuators (SEAs) |
| url | https://ieeexplore.ieee.org/document/10529546/ |
| work_keys_str_mv | AT rameshkrishnanmuttathilgopanunni emactamodularserieselasticactuatorfordynamicrobots AT lorenzomartignetti emactamodularserieselasticactuatorfordynamicrobots AT francescoiotti emactamodularserieselasticactuatorfordynamicrobots AT alokranjan emactamodularserieselasticactuatorfordynamicrobots AT francoangelini emactamodularserieselasticactuatorfordynamicrobots AT manologarabini emactamodularserieselasticactuatorfordynamicrobots |