Development and Control of a Compliant Asymmetric Antagonistic Actuator for Energy Efficient Mobility


This paper presents the event and management of a novel uneven antagonistic actuation scheme characterised by large energy storage capacity that permits economical execution of motions. The asymmetric design consists of 2 actuation branches that transfer their power to one joint through 2 compliant components with totally different stiffness and storage capability properties. The guideline for choosing the stiffness of each parts is elaborated, given the design parameters and control requirements. We have a tendency to propose a unique management strategy that distributes the hassle required to come up with the motion using the 2 actuation branches of this novel hardware, to drive the prototype joint in an energy efficient manner. As a symptom of concept, a single degree-of-freedom knee-actuated hopping robot is designed for experimental validation. The dynamics of the leg and actuators are rigorously modeled and formulated. The information from simulation and experimental studies demonstrate a vital improvement in electrical energy potency and reduction in torque requirements.

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