TY - GEN
T1 - Development of torque controllable leg for running robot, AiDIN-IV
AU - Lee, Yoon Haeng
AU - Lee, Young Hun
AU - Lee, Hyunyong
AU - Phan, Luong Tin
AU - Kang, Hansol
AU - Kim, Yong Bum
AU - Choi, Hyouk Ryeol
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/13
Y1 - 2017/12/13
N2 - Intrinsic problems for legged robots are 'low energy efficiency' and 'slow speed'. In this paper, we introduce a possible solution achieved through biological observations and developed a robotic leg applying the proposed method. The proposed robotic leg, AiDIN-IV Leg (Artificial DIgitigrade for Natural environment version IV) has high torque density actuators(τpeak = 152Nm, 127rpm), high fidelity force/torque controllability(under 5% torque error) and large energy storing capacity(18J) suitable for high-speed running robot. As a core part, Series Elastic Actuator(SEA), achieve large passive deflection angle(47.6°) for storing the energy as much as possible(maximally 37.9J), and constant joint stiffness coefficient. Additionally, oscillation compensator for rejecting the oscillation of SEA and Harmonic Drive efficiency compensator are introduced and successfully tested in the proposed robotic leg.
AB - Intrinsic problems for legged robots are 'low energy efficiency' and 'slow speed'. In this paper, we introduce a possible solution achieved through biological observations and developed a robotic leg applying the proposed method. The proposed robotic leg, AiDIN-IV Leg (Artificial DIgitigrade for Natural environment version IV) has high torque density actuators(τpeak = 152Nm, 127rpm), high fidelity force/torque controllability(under 5% torque error) and large energy storing capacity(18J) suitable for high-speed running robot. As a core part, Series Elastic Actuator(SEA), achieve large passive deflection angle(47.6°) for storing the energy as much as possible(maximally 37.9J), and constant joint stiffness coefficient. Additionally, oscillation compensator for rejecting the oscillation of SEA and Harmonic Drive efficiency compensator are introduced and successfully tested in the proposed robotic leg.
UR - https://www.scopus.com/pages/publications/85041946226
U2 - 10.1109/IROS.2017.8206271
DO - 10.1109/IROS.2017.8206271
M3 - Conference contribution
AN - SCOPUS:85041946226
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4125
EP - 4130
BT - IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
Y2 - 24 September 2017 through 28 September 2017
ER -