A novel energy efficient controllable stiffness joint

Ball, David, Ross, Patrick, Wall, James, & Chow, Ricky (2013) A novel energy efficient controllable stiffness joint. In Proceedings of the 2013 IEEE International Conference on Robotics and Automation (ICRA), IEEE, Kongresszentrum Karlsruhe, Karlsruhe, Germany, pp. 802-808.

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Achieving energy efficient legged locomotion is an important goal for the future of robot mobility. This paper presents a novel joint for legged locomotion that is energy efficient for two reasons. The first reason is the configuration of the elastic elements and actuator which we show analytically has lower energy losses than the typical arrangement. The second is that the joint stiffness, and hence stance duration, is controllable without requiring any energy from the actuator. Further, the joint stiffness can be changed significantly during the flight phase, from zero to highly rigid. Results obtained from a prototype hopper, demonstrate that the joint allows continuous and peak hopping via torque control. The results also demonstrate that the hopping frequency can be varied between 2.2Hz and 4.6Hz with associated stance duration of between 0.35 and 0.15 seconds.

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1 citations in Web of Science®

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ID Code: 66449
Item Type: Conference Paper
Refereed: Yes
Keywords: Actuators, Couplings, Elasticity, Energy consumption, Legged locomotion, Torque control
DOI: 10.1109/ICRA.2013.6630665
ISSN: 9781467356411
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2014 IEEE
Deposited On: 22 Jan 2014 01:44
Last Modified: 30 Jan 2014 03:21

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