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Balanced Walking with Capture Steps Read chapter Read first chapter

2015 | OriginalPaper | Chapter

Design of a Modular Series Elastic Upgrade to a Robotics Actuator

Authors : Leandro Tomé Martins, Roberta de Mendonça Pretto, Reinhard Gerndt, Rodrigo da Silva Guerra

Published in: RoboCup 2014: Robot World Cup XVIII

Publisher: Springer International Publishing

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Abstract

In this article we present a compact and modular device designed to allow a conventional stiff servo actuator to be easily upgraded into a series elastic actuator (SEA). This is a low cost, open source and open hardware solution including mechanical CAD drawings, circuit schematics, board designs and firmware code. We present a complete overview of the project as well as a case study where we show the device being employed as an upgrade to add compliance to the knee joints of an existing humanoid robot design.

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Footnotes
1
Tipically a higher level fully featured computer is used for things like planning, vision and data fusion while another mid-level computer takes care of controlling all the joints in real time.
 
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Metadata
Title
Design of a Modular Series Elastic Upgrade to a Robotics Actuator
Authors
Leandro Tomé Martins
Roberta de Mendonça Pretto
Reinhard Gerndt
Rodrigo da Silva Guerra
Copyright Year
2015
Book
RoboCup 2014: Robot World Cup XVIII

Print ISBN: 978-3-319-18614-6

Electronic ISBN: 978-3-319-18615-3

Copyright Year: 2015

DOI
https://doi.org/10.1007/978-3-319-18615-3_57

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