Innovation in Legged Robotics
Bidirectional Compact Series Elastic Actuator with Torsion Coil Spring
SIE is researching on small bipedal robots to explore new possibilities for entertainment through robotics. To enable robots to perform dynamic movements such as running and jumping, it is necessary to not only increase the output power of the actuators but also to provide shock absorption capabilities. In this study, we developed a small series elastic actuator using a torsion coil spring as the elastic element and implemented it in a single-legged robot. The spring absorbs the impact upon landing and utilizes the stored elastic energy to enable efficient continuous jumping motions.
This work was performed for research purposes only.
To read the full research please visit https://arxiv.org/abs/2409.15791
This paper has been accepted at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2024.