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Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

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A Variable Stiffness Actuator Module With Favorable Mass Distribution for a Bio-inspired Biped Robot.

David Rodriguez-Cianca^1,2, Maarten Weckx¹, Rene Jimenez-Fabian¹

¹Robotics and Multibody Mechanics Research Group, Vrije Universiteit Brussel (VUB) and Flanders Make, Brussels, Belgium.

Frontiers in Neurorobotics

|June 4, 2019

Summary

This summary is machine-generated.

This study introduces a novel variable stiffness actuator (VSA) for humanoid robots, improving mass distribution and enabling human-like locomotion. The new VSA design enhances robotic joint performance and efficiency.

Keywords:

bio-inspired biped robot human-like locomotion mass distribution muti-DoFs joints variable stiffness actuator

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Area of Science:

Robotics
Biomechanics
Mechanical Engineering

Background:

Humanoid robots require advanced actuators like variable stiffness actuators (VSAs) for human-like locomotion.
VSAs, with two motors for stiffness and position control, add mass and complexity to humanoid designs.
Leg mass distribution significantly impacts a humanoid's energy efficiency (cost of transport).

Purpose of the Study:

To present a novel VSA module for the bio-inspired humanoid robot Binocchio.
To improve mass distribution in humanoid robots by relocating actuator components.
To enable more efficient and human-like locomotion in multi-degree-of-freedom joints.

Main Methods:

Designed a novel VSA module with all components on one side of the actuated joint.
Integrated the VSA module into the multi-degree-of-freedom joints of the Binocchio humanoid robot.
Conducted experiments to validate static characteristics (torque, stiffness) and dynamic responses.

Main Results:

The VSA module was successfully designed and integrated into the Binocchio robot.
Static tests confirmed accurate estimation of output torque and stiffness.
Dynamic response experiments demonstrated the system's capabilities.
The VSA system effectively replicated human-like kinematic, torque, and stiffness profiles.

Conclusions:

The novel VSA design offers a favorable mass distribution for humanoids.
This VSA facilitates integration into centralized multi-degree-of-freedom joints.
The system enables human-like locomotion by controlling torque and stiffness profiles effectively.