Composition for the power of an in-series elastic actuator, and the robust control of impedance

Japanese Patent JP6121351

B2

An SEA architecture for controlling the torque applied by an SEA that has particular application for controlling the position of a robot link. The SEA architecture includes a motor coupled to one end of an elastic spring and a load coupled to an opposite end of the elastic spring, where the motor drives the load through the spring. The orientation of the shaft of the motor and the load are measured by position sensors. Position signals from the position sensors are sent to an embedded processor that determines the orientation of the load relative to the motor shaft to determine the torque on the spring. The embedded processor receives reference torque signals from a remote controller, and the embedded processor operates a high-speed servo loop about the desired joint torque. The remote controller determines the desired joint torque based on higher order objectives by their impedance or positioning objectives.

Matthew Jay Leyland
Brian Hargrave
Robert Pratt
Muhammad E Abdulah
Frank Noble Permenter

JP2014055990A

April 26, 2017

March 19, 2014

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GM Global Technology Operations, Inc.
The United States of America as Represented by the Administrator of the National Aeronautics and Space Administration

H02P29/40; B25J17/00; H02K11/21; H02K11/24

JP2004336879A
JP2580502B2
JP3213288A
JP2002524192A
JP4020403A
JP2004515187A
JP2000253689A
JP3243193A
JP2009190122A
JP5305584A

US5650704
US5910720
WO2009013985A1

Shinjiro Ono
Yasushi Kobayashi

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