Programmable Springs: Developing Actuators with Programmable Compliance for Autonomous Robots.

Bigge, Bill and Harvey, Inman R (2007) Programmable Springs: Developing Actuators with Programmable Compliance for Autonomous Robots. Robotics and Autonomous Systems, 55 (9). pp. 728-734. ISSN 0921-8890

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Abstract

Developing real robots that can exploit dynamic interactions with the environment requires the use of actuators whose behaviour can vary from high stiffness to complete compliance or zero impedance. We will outline our design for an electric actuator, called a programmable spring, which can be easily configured using a high level programming interface to emulate complex multimodal spring damping systems. The types of behaviour that our actuator can exhibit are explored, including antagonistic actuation, cyclic behaviour and hysteresis. This system is intended as the basis for a cost effective off the shelf component for robotics research and development.

Item Type: Article
Additional Information: Originality. Novel development (UK Patent no: GB0615526.1 FORCE SENSOR AND PROGRAMMABLE SPRING EMULATOR) of a compact force-controlled actuator for robotics, allowing control through specification of spring profiles. Rigour. Pioneered and developed through to working production models in our labs. Significance. This is an extension of the original conference paper that won Best Paper award at TAROS'06 conference. Impact: Application in progress for regional CommercialiSE PoCKeT Fund for proof of concept commercial prototypes. Active interest from Universities including Bristol Robotics Lab.
Schools and Departments: School of Engineering and Informatics > Informatics
Depositing User: Bill Bigge
Date Deposited: 06 Feb 2012 18:54
Last Modified: 27 Mar 2012 14:43
URI: http://sro.sussex.ac.uk/id/eprint/18830
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