TY - GEN
T1 - Design and validation of the simple switchable SEA module for legged system
AU - Lee, Hyuk Jin
AU - Lee, Kyeong Ha
AU - Lee, Hae Jin
AU - Lee, Junghoon
AU - Koo, Ja Choon
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/25
Y1 - 2017/7/25
N2 - Many researchers have been studying a walking robot that can walk in an Unknown environment. But there is a problem. When the leg is landing, the motor or torque sensor is damaged by the amount of impact generated from the uncleaned ground. In order to solve this problem, many researchers have tried to reduce the amount of impulse by placing a passive compliance element in a motor-pack. The efforts have been made to reduce the impact by creating virtual m, c, and k elements through active compliance, impedance control or admittance control. In this paper, we designed a new concept motor-pack that enters the joint of a walking robot. The main function is to make the motor-pack into a package type to protect important components from external shocks and speed up the communication speed due to the circuit intensiveness. The motor-pack consists of motor, gear, bearing, encoder and torque sensor. In addition, this paper validates the SEA module as a torque sensor.
AB - Many researchers have been studying a walking robot that can walk in an Unknown environment. But there is a problem. When the leg is landing, the motor or torque sensor is damaged by the amount of impact generated from the uncleaned ground. In order to solve this problem, many researchers have tried to reduce the amount of impulse by placing a passive compliance element in a motor-pack. The efforts have been made to reduce the impact by creating virtual m, c, and k elements through active compliance, impedance control or admittance control. In this paper, we designed a new concept motor-pack that enters the joint of a walking robot. The main function is to make the motor-pack into a package type to protect important components from external shocks and speed up the communication speed due to the circuit intensiveness. The motor-pack consists of motor, gear, bearing, encoder and torque sensor. In addition, this paper validates the SEA module as a torque sensor.
KW - impedance control
KW - Motor-pack
KW - passive compliance
UR - https://www.scopus.com/pages/publications/85034253263
U2 - 10.1109/URAI.2017.7992808
DO - 10.1109/URAI.2017.7992808
M3 - Conference contribution
AN - SCOPUS:85034253263
T3 - 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017
SP - 717
EP - 719
BT - 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017
Y2 - 28 June 2017 through 1 July 2017
ER -