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

doi:10.1109/ICRA48891.2023.10161131

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

Department of Robotics and Mechatronics Engineering

Daegu Gyeongbuk Institute of Science and Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

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 stiffness analysis of paired-Crossed Flexural Hinge (p-CFH) is extended from small deformation to large deformation, and the accuracy is verified through Finite Element Analysis (FEA) and experiments. Based on the analysis, the torque of p-CFH is measured, and feedback torque control is also performed. Finally, the robot leg was constructed with MAEA, and the multi-axis impact resistance performance of MAEA was demonstrated by analyzing the applied impact during landing experiments at various angles.

Original language	English
Title of host publication	Proceedings - ICRA 2023
Subtitle of host publication	IEEE International Conference on Robotics and Automation
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	7331-7337
Number of pages	7
ISBN (Electronic)	9798350323658
DOIs	https://doi.org/10.1109/ICRA48891.2023.10161131
State	Published - 2023
Event	2023 IEEE International Conference on Robotics and Automation, ICRA 2023 - London, United Kingdom Duration: 29 May 2023 → 2 Jun 2023

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2023-May
ISSN (Print)	1050-4729

Conference

Conference	2023 IEEE International Conference on Robotics and Automation, ICRA 2023
Country/Territory	United Kingdom
City	London
Period	29/05/23 → 2/06/23

Bibliographical note

Publisher Copyright:
© 2023 IEEE.

Access to Document

10.1109/ICRA48891.2023.10161131

Cite this

Kim, Y., Choi, S., Song, J., & Yun, D. (2023). Modular Multi-axis Elastic Actuator with Torque Sensing Capable p-CFH for Highly Impact Resistive Robot Leg. In Proceedings - ICRA 2023: IEEE International Conference on Robotics and Automation (pp. 7331-7337). (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2023-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA48891.2023.10161131

Kim, Youngrae ; Choi, Sunghyun ; Song, Jinhyeok et al. / Modular Multi-axis Elastic Actuator with Torque Sensing Capable p-CFH for Highly Impact Resistive Robot Leg. Proceedings - ICRA 2023: IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2023. pp. 7331-7337 (Proceedings - IEEE International Conference on Robotics and Automation).

@inproceedings{a832116f908341889da0d65eb19eb306,

title = "Modular Multi-axis Elastic Actuator with Torque Sensing Capable p-CFH for Highly Impact Resistive Robot Leg",

abstract = "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 stiffness analysis of paired-Crossed Flexural Hinge (p-CFH) is extended from small deformation to large deformation, and the accuracy is verified through Finite Element Analysis (FEA) and experiments. Based on the analysis, the torque of p-CFH is measured, and feedback torque control is also performed. Finally, the robot leg was constructed with MAEA, and the multi-axis impact resistance performance of MAEA was demonstrated by analyzing the applied impact during landing experiments at various angles.",

author = "Youngrae Kim and Sunghyun Choi and Jinhyeok Song and Dongwon Yun",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 2023 IEEE International Conference on Robotics and Automation, ICRA 2023 ; Conference date: 29-05-2023 Through 02-06-2023",

year = "2023",

doi = "10.1109/ICRA48891.2023.10161131",

language = "English",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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Kim, Y, Choi, S, Song, J & Yun, D 2023, Modular Multi-axis Elastic Actuator with Torque Sensing Capable p-CFH for Highly Impact Resistive Robot Leg. in Proceedings - ICRA 2023: IEEE International Conference on Robotics and Automation. Proceedings - IEEE International Conference on Robotics and Automation, vol. 2023-May, Institute of Electrical and Electronics Engineers Inc., pp. 7331-7337, 2023 IEEE International Conference on Robotics and Automation, ICRA 2023, London, United Kingdom, 29/05/23. https://doi.org/10.1109/ICRA48891.2023.10161131

Modular Multi-axis Elastic Actuator with Torque Sensing Capable p-CFH for Highly Impact Resistive Robot Leg. / Kim, Youngrae; Choi, Sunghyun; Song, Jinhyeok et al.
Proceedings - ICRA 2023: IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc., 2023. p. 7331-7337 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2023-May).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Modular Multi-axis Elastic Actuator with Torque Sensing Capable p-CFH for Highly Impact Resistive Robot Leg

AU - Kim, Youngrae

AU - Choi, Sunghyun

AU - Song, Jinhyeok

AU - Yun, Dongwon

PY - 2023

Y1 - 2023

N2 - 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 stiffness analysis of paired-Crossed Flexural Hinge (p-CFH) is extended from small deformation to large deformation, and the accuracy is verified through Finite Element Analysis (FEA) and experiments. Based on the analysis, the torque of p-CFH is measured, and feedback torque control is also performed. Finally, the robot leg was constructed with MAEA, and the multi-axis impact resistance performance of MAEA was demonstrated by analyzing the applied impact during landing experiments at various angles.

AB - 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 stiffness analysis of paired-Crossed Flexural Hinge (p-CFH) is extended from small deformation to large deformation, and the accuracy is verified through Finite Element Analysis (FEA) and experiments. Based on the analysis, the torque of p-CFH is measured, and feedback torque control is also performed. Finally, the robot leg was constructed with MAEA, and the multi-axis impact resistance performance of MAEA was demonstrated by analyzing the applied impact during landing experiments at various angles.

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M3 - Conference contribution

AN - SCOPUS:85168667183

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 7331

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BT - Proceedings - ICRA 2023

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2023 IEEE International Conference on Robotics and Automation, ICRA 2023

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Kim Y, Choi S, Song J, Yun D. Modular Multi-axis Elastic Actuator with Torque Sensing Capable p-CFH for Highly Impact Resistive Robot Leg. In Proceedings - ICRA 2023: IEEE International Conference on Robotics and Automation. Institute of Electrical and Electronics Engineers Inc. 2023. p. 7331-7337. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA48891.2023.10161131

Modular Multi-axis Elastic Actuator with Torque Sensing Capable p-CFH for Highly Impact Resistive Robot Leg

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