Design and development of a rotary serial elastic actuator for humanoid arms

Xijian Huo; Yanfeng Xia; Yiwei Liu; Li Jiang; Hong Liu

doi:10.1007/978-3-319-13966-1_27

Design and development of a rotary serial elastic actuator for humanoid arms

Xijian Huo
, Yanfeng Xia
, Yiwei Liu^*
, Li Jiang
, Hong Liu

^*Corresponding author for this work

School of Mechatronics Engineering

Harbin Institute of Technology

Research output: Contribution to journal › Article › peer-review

5 Scopus citations

Abstract

The paper discusses the design of a novel serial elastic actuator (SEA) which is used as the revolute joint in humanoid arms. First, characteristics and requirements of SEA are illustrated. And the elastic element is further analyzed using the design of experiment (DOE) method. Then, a discoid elastic element with larger flexibility is developed. Based on this, an integrated SEA containing the position sensors and the torque sensor is developed. And also, a 7-DOF humanoid arm with joint flexibilities is designed. Finally, experiments of SEA demonstrate the approximation of the stiffness between the desired SEA and the prototype.

Original language	English
Pages (from-to)	266-277
Number of pages	12
Journal	Lecture Notes in Computer Science
Volume	8917
DOIs	https://doi.org/10.1007/978-3-319-13966-1_27
State	Published - 2014

Keywords

Design of experiment
Flexible joint
Humanoid arm
Joint stiffness
Serial elastic actuator

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10.1007/978-3-319-13966-1_27

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title = "Design and development of a rotary serial elastic actuator for humanoid arms",

abstract = "The paper discusses the design of a novel serial elastic actuator (SEA) which is used as the revolute joint in humanoid arms. First, characteristics and requirements of SEA are illustrated. And the elastic element is further analyzed using the design of experiment (DOE) method. Then, a discoid elastic element with larger flexibility is developed. Based on this, an integrated SEA containing the position sensors and the torque sensor is developed. And also, a 7-DOF humanoid arm with joint flexibilities is designed. Finally, experiments of SEA demonstrate the approximation of the stiffness between the desired SEA and the prototype.",

keywords = "Design of experiment, Flexible joint, Humanoid arm, Joint stiffness, Serial elastic actuator",

author = "Xijian Huo and Yanfeng Xia and Yiwei Liu and Li Jiang and Hong Liu",

note = "Publisher Copyright: {\textcopyright} Springer International Publishing Switzerland 2014.",

year = "2014",

doi = "10.1007/978-3-319-13966-1\_27",

language = "英语",

volume = "8917",

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T1 - Design and development of a rotary serial elastic actuator for humanoid arms

AU - Huo, Xijian

AU - Xia, Yanfeng

AU - Liu, Yiwei

AU - Jiang, Li

AU - Liu, Hong

N1 - Publisher Copyright: © Springer International Publishing Switzerland 2014.

PY - 2014

Y1 - 2014

N2 - The paper discusses the design of a novel serial elastic actuator (SEA) which is used as the revolute joint in humanoid arms. First, characteristics and requirements of SEA are illustrated. And the elastic element is further analyzed using the design of experiment (DOE) method. Then, a discoid elastic element with larger flexibility is developed. Based on this, an integrated SEA containing the position sensors and the torque sensor is developed. And also, a 7-DOF humanoid arm with joint flexibilities is designed. Finally, experiments of SEA demonstrate the approximation of the stiffness between the desired SEA and the prototype.

AB - The paper discusses the design of a novel serial elastic actuator (SEA) which is used as the revolute joint in humanoid arms. First, characteristics and requirements of SEA are illustrated. And the elastic element is further analyzed using the design of experiment (DOE) method. Then, a discoid elastic element with larger flexibility is developed. Based on this, an integrated SEA containing the position sensors and the torque sensor is developed. And also, a 7-DOF humanoid arm with joint flexibilities is designed. Finally, experiments of SEA demonstrate the approximation of the stiffness between the desired SEA and the prototype.

KW - Design of experiment

KW - Flexible joint

KW - Humanoid arm

KW - Joint stiffness

KW - Serial elastic actuator

UR - https://www.scopus.com/pages/publications/84911872034

U2 - 10.1007/978-3-319-13966-1_27

DO - 10.1007/978-3-319-13966-1_27

M3 - 文章

AN - SCOPUS:84911872034

SN - 0302-9743

VL - 8917

SP - 266

EP - 277

JO - Lecture Notes in Computer Science

JF - Lecture Notes in Computer Science

ER -

Design and development of a rotary serial elastic actuator for humanoid arms

Abstract

Keywords

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