Passive compliance for an RC servo-controlled bouncing robot

Meyer, Friedrich, Spröwitz, Alexander and Berthouze, Luc (2006) Passive compliance for an RC servo-controlled bouncing robot. Advanced Robotics, 20 (8). pp. 953-961. ISSN 0169-1864

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Abstract

A novel and low-cost passively compliant mechanism is described that can be used with RC servos to actuate legged robots in tasks involving high dynamic loads such as bouncing. Compliance is achieved by combining visco-elastic material and metal parts. Joint response to dynamic loads is evaluated using real-world experiments and force data are obtained from a Lagrangian analysis of the system. The experimental results demonstrate the applicative potential of this mechanism.

Item Type: Article
Additional Information: Originality: First mechanism proposed to add passive compliance to RC servomotors. Rigour: Joint response to dynamic loads obtained from experiments with a real robotic system, built in-house. Force data obtained from Lagrangian analysis of the simulated system. Simulated system matched in response to the real system. Significance: RC servomotors are used in a number of robotic devices, from specialised research platforms to widely distributed toys. This low-cost and lightweight mechanism provides both elasticity (which maximises energy restitution) and damping component (which minimises elastic oscillations and enables accurate control). Impact: This method is directly applicable to real-world applications (e.g., robotic toys).
Schools and Departments: School of Engineering and Informatics > Informatics
Depositing User: Luc Berthouze
Date Deposited: 06 Feb 2012 21:00
Last Modified: 28 Mar 2012 09:23
URI: http://sro.sussex.ac.uk/id/eprint/29102
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