Serial Elastic versus Parallel Elastic Actuators in Hopping

M Anderson, T McLaughlin, Shai Revzen

Dynamic Walking, no. 513, 2020

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Abstract

For hopping robots in the 3kg range, high hop-to-hop energy restitution has not been reported. We built several hopping robots based around elastic energy storage in high coefficient of restitution spring steel leaf springs to explore means of improving energy efficiency in a hopping gait. We present lessons learned from hopping robot design when using both series elastic and parallel elastic actuators. With series elastic actuation our best restitution was 11.2+/-2.2 percent; with parallel actuation using the same springs and motors our best restitution was 49+/-5 percent.

BibTeX

@conference{anderson-2020-dw,
  author = {Anderson, M and McLaughlin, T and Revzen, Shai},
  title = {Serial Elastic versus Parallel Elastic Actuators in Hopping},
  booktitle = {Dynamic Walking},
  year = {2020},
  number = {513},
  address = {Internet},
  month = jun,
  organization = {Dynamic Walking},
  url = {https://www.seas.upenn.edu/\%7Eposa/DynamicWalking2020/750-1140-1-RVp.pdf}
}