Parallel elastic actuation for efficient large payload locomotion

For legged devices, their ability of carrying payload is a necessity for a wide range of tasks. In this paper, we present a new approach of carrying payload by using a parallel elastic mechanism, which is able to carry payloads of at least 3 times of its bodyweight. Although the robot has no sensory feedback and consists of only two rigid bodies and one spring loaded joint, it is able to achieve efficient and stable forward hopping for a wide range of attached payload. The presented payload carrier ETH Cargo is based on the further development of our platform CHIARO for the payload range between 0 and 100kg. After parameter optimization using simulations, a series of real world experiments prove stable and high efficiency hopping of the prototype over a wide range of payloads.

[1]  Leonid B. Freidovich,et al.  Parallel Elastic Actuators as a Control Tool for Preplanned Trajectories of Underactuated Mechanical Systems , 2010, Int. J. Robotics Res..

[2]  Jonathan E. Clark,et al.  iSprawl: Design and Tuning for High-speed Autonomous Open-loop Running , 2006, Int. J. Robotics Res..

[3]  C. Glocker,et al.  Formulation and Preparation for Numerical Evaluation of Linear Complementarity Systems in Dynamics , 2005 .

[4]  Marc H. Raibert,et al.  Legged Robots That Balance , 1986, IEEE Expert.

[5]  Pei-Chun Lin,et al.  A simple running model with rolling contact and its role as a template for dynamic locomotion on a hexapod robot , 2014, Bioinspiration & biomimetics.

[6]  André Seyfarth,et al.  A comparison of parallel- and series elastic elements in an actuator for mimicking human ankle joint in walking and running , 2012, 2012 IEEE International Conference on Robotics and Automation.

[7]  Stefano Stramigioli,et al.  Parallel stiffness in a bounding quadruped with flexible spine , 2012, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[8]  Zhuohua Shen,et al.  Towards the Understanding of Hip Torque and Leg Damping Effects on Model Stability , 2012 .

[9]  Russ Tedrake,et al.  Efficient Bipedal Robots Based on Passive-Dynamic Walkers , 2005, Science.

[10]  Ronald S. Fearing,et al.  Sliding and hopping gaits for the underactuated Acrobot , 1998, IEEE Trans. Robotics Autom..

[11]  Majid Nili Ahmadabadi,et al.  Natural dynamics modification for energy efficiency: A data-driven parallel compliance design method , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[12]  Jonathan E. Clark,et al.  A reduced-order dynamical model for running with curved legs , 2012, 2012 IEEE International Conference on Robotics and Automation.

[13]  Fumiya Iida,et al.  Self-stable one-legged hopping using a curved foot , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[14]  Andy Ruina,et al.  DESIGN AND CONTROL OF RANGER: AN ENERGY-EFFICIENT, DYNAMIC WALKING ROBOT , 2012 .

[15]  Martin Buehler,et al.  Stable open loop walking in quadruped robots with stick legs , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[16]  Justin Seipel,et al.  A simple model for clock-actuated legged locomotion , 2007 .

[17]  Martin Buehler,et al.  Controlled passive dynamic running experiments with the ARL-monopod II , 2006, IEEE Transactions on Robotics.