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Programmable Springs: Developing Actuators with Programmable Compliance for Autonomous Robots.

journal contribution
posted on 2023-06-07, 21:42 authored by Bill Bigge, Inman HarveyInman Harvey
Developing real robots that can exploit dynamic interactions with the environment requires the use of actuators whose behaviour can vary from high stiffness to complete compliance or zero impedance. We will outline our design for an electric actuator, called a programmable spring, which can be easily configured using a high level programming interface to emulate complex multimodal spring damping systems. The types of behaviour that our actuator can exhibit are explored, including antagonistic actuation, cyclic behaviour and hysteresis. This system is intended as the basis for a cost effective off the shelf component for robotics research and development.

History

Publication status

  • Published

Journal

Robotics and Autonomous Systems

ISSN

0921-8890

Issue

9

Volume

55

Page range

728-734

Department affiliated with

  • Informatics Publications

Notes

Originality. Novel development (UK Patent no: GB0615526.1 FORCE SENSOR AND PROGRAMMABLE SPRING EMULATOR) of a compact force-controlled actuator for robotics, allowing control through specification of spring profiles. Rigour. Pioneered and developed through to working production models in our labs. Significance. This is an extension of the original conference paper that won Best Paper award at TAROS'06 conference. Impact: Application in progress for regional CommercialiSE PoCKeT Fund for proof of concept commercial prototypes. Active interest from Universities including Bristol Robotics Lab.

Full text available

  • No

Peer reviewed?

  • Yes

Legacy Posted Date

2012-02-06

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