Click to edit Master title style Developing Actuators with Rich Click to edit Master subtitle style Motor Properties for Emerging Humanoids Click to edit Master subtitle style Nikos Tsagarakis Humanoids Nikos Tsagarakis Dept. of Advanced Robotics Workshop on New Bodies for Cognitive Humanoids, Istituto Italiano di Tecnologia (IIT) Bled, Slovenia, 26th October 2011
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Click to edit Master title styleDeveloping Actuators with Rich y
Click to edit Master subtitle styleMotor Properties for Emerging
HumanoidsClick to edit Master subtitle style
Nikos Tsagarakis
HumanoidsNikos Tsagarakis
Dept. of Advanced Robotics
Workshop on New Bodies for Cognitive Humanoids,
Istituto Italiano di Tecnologia (IIT)
p g ,Bled, Slovenia, 26th October 2011
Research efforts towards passive compliant systemscompliant systems
VIACTORS
The goal is to design, realize and evaluate new rangeof actuator groups exhibiting variable stiffness,variable damping or full impedance regulationvariable damping or full impedance regulationprinciples
AMARSI
The goal of AMARSi is a qualitative jump toward richmotor behaviour where novel mechanics, control andlearning solutions are integrated with each otherg g
Workshop on New Bodies for Cognitive Humanoids for Humanoids Humanoids 2011 2
AMARSI project
Aims to design, realize and test a new generation of humanoidand quadruped robotic platforms, powered by compliantactuators
To study how compliance can be exploited through learningfor more natural locomotion, safer interaction and reduced
tienergy consumption.
Workshop on New Bodies for Cognitive Humanoids for Humanoids Humanoids 2011 3
COmpliant HuMANoid (COMAN) Summary of featuresSummary of features
COMAN passive compliant
• a full humanoid robot with a height of 110cm.
COMAN passive compliant humanoid
110cm.• 32 + (1) major degrees of freedom of
freedom (arms/legs and torso and neck)• intrinsic passive compliance in the
• A) Link/Cam Connection• B) Joint Axis• C) Cam Shaped Lever Arm• C) Cam Shaped Lever Arm• E) Cam Roller• F) Rack/Pinion FP
• G) Stiffness Motor• H) Springs
)Main joint actuator
• P) Pivot Point
Workshop on New Bodies for Cognitive Humanoids for Humanoids Humanoids 2011 2626Tsagarakis et al. IROS 2011
Stiffness & Passive deflection profiles
Stiffness Passive deflection angle range
Workshop on New Bodies for Cognitive Humanoids for Humanoids Humanoids 2011 27Irene Sardellitti 27IEEE IROS 2011 A New Variable Stiffness Actuator (CompAct-VSA): Design Modelling and Implementation [nikos tsagarakis@iit it]
Elastic and pivot motor torques
Elastic torqueResistant torque of the pivot motor
Workshop on New Bodies for Cognitive Humanoids for Humanoids Humanoids 2011 2828IEEE IROS 2011 A New Variable Stiffness Actuator (CompAct-VSA): Design Modelling and Implementation [nikos tsagarakis@iit it]
Stiffness response:Experimental results
• Pivot Tracking
• Stiffness tracking
Workshop on New Bodies for Cognitive Humanoids for Humanoids Humanoids 2011 2929IEEE IROS 2011 A New Variable Stiffness Actuator (CompAct-VSA): Design Modelling and Implementation [nikos tsagarakis@iit it]