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Passive compliance for an RC servo-controlled bouncing robot

journal contribution
posted on 2023-06-08, 08:30 authored by Friedrich Meyer, Alexander Spröwitz, Luc BerthouzeLuc Berthouze
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.

History

Publication status

  • Published

Journal

Advanced Robotics

ISSN

0169-1864

Issue

8

Volume

20

Page range

953-961

Pages

9.0

Department affiliated with

  • Informatics Publications

Notes

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).

Full text available

  • No

Peer reviewed?

  • Yes

Legacy Posted Date

2012-02-06

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