Publication:High Compliant Series Elastic Actuation for the Robotic Leg ScarlETH

Publication: High Compliant Series Elastic Actuation for the Robotic Leg ScarlETH


Warning: Use of undefined constant citation_author - assumed 'citation_author' (this will throw an Error in a future version of PHP) in /home/clients/89f5f0444c120951cfdb7adc5e3aa2bf/web/dev-nccr-robotics/wp-content/themes/nccr-twentyseventeen-child/template-parts/post/content-publication.php on line 51

Warning: Use of undefined constant citation_author - assumed 'citation_author' (this will throw an Error in a future version of PHP) in /home/clients/89f5f0444c120951cfdb7adc5e3aa2bf/web/dev-nccr-robotics/wp-content/themes/nccr-twentyseventeen-child/template-parts/post/content-publication.php on line 51

Warning: Use of undefined constant citation_author - assumed 'citation_author' (this will throw an Error in a future version of PHP) in /home/clients/89f5f0444c120951cfdb7adc5e3aa2bf/web/dev-nccr-robotics/wp-content/themes/nccr-twentyseventeen-child/template-parts/post/content-publication.php on line 52
  • Authors:
    Warning: Use of undefined constant citation_author - assumed 'citation_author' (this will throw an Error in a future version of PHP) in /home/clients/89f5f0444c120951cfdb7adc5e3aa2bf/web/dev-nccr-robotics/wp-content/themes/nccr-twentyseventeen-child/template-parts/post/content-publication.php on line 57
    Hutter, M.; Remy, C. D.; Hoepflinger, M. A.; Siegwart, R.
  • Presented at: CLAWAR, Paris, France, September 7, 2011
  • Published in: Proc. of the International Conference on Climbing and Walking Robots (CLAWAR)
  • Publication date: 2011

This paper presents the actuation system of the robotic leg ScarlETH. It was developed specifically for a quadrupedal robot and is designed to achieve fast position control as well as accurate joint torque control. It introduces strong passive dynamics to create an efficient running behavior. High spring compliance with low damping in combination with a cascaded, motor velocity based, control structure was successfully tested in simulation and experiments. Final tests with the entire leg demonstrate that the system can perform a hopping motion providing only positive actuator power.

    Reference

    Posted on: March 22, 2012