Modular Multi-axis Elastic Actuator with Torque Sensing Capable p-CFH for Highly Impact Resistive Robot Leg
Youngrae Kim,Sunghyun Choi,Jinhyeok Song,Dongwon Yun,Youngrae Kim,Sunghyun Choi,Jinhyeok Song,Dongwon Yun
This study proposes a modular Multi-axis Elastic Actuator (MAEA) for legged robots that can effectively cope with impacts that may occur during dynamic maneuvering. MAEA has multi-axis compliance and can measure the torque without additional encoders. Therefore, effective impact resistance is possible with less volume and weight than conventional Series Elastic Actuators (SEA). The 6-axis stiffnes...
