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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 BerthouzeA 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 RoboticsISSN
0169-1864External DOI
Issue
8Volume
20Page range
953-961Pages
9.0Department 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
2012-02-06Usage metrics
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