Series elastic actuators

By G. Pratt, M. Williamson. 1995

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Citations in the corpus

Learning quadrupedal locomotion over challenging terrain (2020, positive): “The actuator networks [12] are trained for each robot to simulate Series Elastic Actuators (SEA) [47] at the joint.”
Learning agile and dynamic motor skills for legged robots (2019, methodology): “ leg is about 55cm long and has three actuated degrees of freedom, namely Hip Abduction/Adduction (HAA), Hip Flexion/Extension (HFE), and Knee Flexion/Extension (KFE). ANYmal is equipped with 12 SEAs [60, 61]. An SEA is composed of an electric motor, a high gear ratio transmission, an elastic elemen”
Review of assistive strategies in powered lower-limb orthoses and exoskeletons (2015, methodology): “In [79] a control algorithm is presented: the actuated torque is a fraction of the propelling torque, obtained by multiplying the ground reaction force – estimated as the force compressing the linear SEA – with its knee axis moment arm – obtained from the knee brace joint position sensor and knowing”
Adaptive control of a variable-impedance ankle-foot orthosis to assist drop-foot gait (2004, methodology): “1) SEA: The SEA, previously developed for legged robots [27], [30], [31], was used to control the impedance of the orthotic ankle joint for sagittal plane rotations.”
A New Actuation Approach for Human Friendly Robot Design (2004, background): “The limitations of current actuation technology and the manner in which these actuators are used in manipulator designs are to blame.”
Compliant actuator designs (2009, background): “The SEA measures the displacement of the unit and force on the spring to adjust the torque supplied by the motor, otherwise known as impedance control.”
Virtual Model Control: An Intuitive Approach for Bipedal Locomotion (2001, unknown): “Series elastic actuation (Pratt and Williamson 1995) is employed at each actuated degree of freedom, allowing for accurate application of torques and a high degree of shock tolerance.”
Lower Limb Wearable Robots for Assistance and Rehabilitation: A State of the Art (2016, background): “Compared with the nonbackdrivable actuators, the SEA includes the following advantages: shock tolerance, lower reflected inertia, more accurate stable force control in unconstrained environments, and energy storage [23], [24].”
Working Together: A Review on Safe Human-Robot Collaboration in Industrial Environments (2017, background): “An alternative design, which attempts tomitigate the disadvantages of an increased inertia and high back-drive friction of gear trains in gear-head actuators, is the compliant device known as Series Elastic Actuator (SEA), which is proposed in [46] and is illustrated in Fig.”
An atlas of physical human-robot interaction (2008, unknown): “Finally, low impedance is achieved by using a series elastic actuator (SEA) [32].”
Robonaut 2 - The first humanoid robot in space (2011, background): “The basic torque control strategy noted above limits the force the robot applies to the environment ensuring that when inadvertent contact does occur, the resulting force felt by the human is comfortable and the robot can be manually restricted by pushing on a limb.”
Robust Recovery Controller for a Quadrupedal Robot using Deep Reinforcement Learning (2019, background): “2) Actuator Model: ANYmal’s joints are Series Elastic Ac-tuators (SEA) [20].”
Feedback Control of Dynamic Bipedal Robot Locomotion (2007, background): “, springs) purposefully included between the actuator and load [179].”
Probabilistic foot contact estimation by fusing information from dynamics and differential/forward kinematics (2016, methodology): “It is equipped with 12 torque-controllable Series Elastic Actuators (SEA) [8].”