Donghyun Kim, Orion Campbell, Junhyeok Ahn, L. Sentis, N. Paine
{"title":"Investigations of viscoelastic liquid cooled actuators applied for dynamic motion control of legged systems","authors":"Donghyun Kim, Orion Campbell, Junhyeok Ahn, L. Sentis, N. Paine","doi":"10.1109/HUMANOIDS.2017.8246950","DOIUrl":null,"url":null,"abstract":"To significantly improve actuation technology for legged systems, we design, build, and empirically test the viscoelastic liquid cooled actuator (VLCA) for use in a robotic leg. Unlike existing actuators, VLCAs excel in the following five critical axes of performance, which are essential for dynamic motion control of practical legged robots: energy efficiency, power density, impact-resistance, position controllability, and force controllability. In this paper, we explain design details with respect to the five criteria, and present results from our extensive study of a variety of viscoelastic materials. Position controllability and power density are experimentally evaluated by demonstrating dynamic motion with a single leg testbed, custom-built using VLCAs. In the experiment, the testbed shows 6.1 rad/s maximum velocity and 240 Nm maximum torque while accurately executing the commanded motions.","PeriodicalId":143992,"journal":{"name":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","volume":"54 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2017-12-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"5","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/HUMANOIDS.2017.8246950","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 5
Abstract
To significantly improve actuation technology for legged systems, we design, build, and empirically test the viscoelastic liquid cooled actuator (VLCA) for use in a robotic leg. Unlike existing actuators, VLCAs excel in the following five critical axes of performance, which are essential for dynamic motion control of practical legged robots: energy efficiency, power density, impact-resistance, position controllability, and force controllability. In this paper, we explain design details with respect to the five criteria, and present results from our extensive study of a variety of viscoelastic materials. Position controllability and power density are experimentally evaluated by demonstrating dynamic motion with a single leg testbed, custom-built using VLCAs. In the experiment, the testbed shows 6.1 rad/s maximum velocity and 240 Nm maximum torque while accurately executing the commanded motions.