Research/ ORBITAL ROBOTICS
Design of a Series-Elastic Actuator for a Humanoid Robot for Space Applications
Shubhankar Riswadkar, S Barat, Harish J. Palanthandalam‐Madapusi
Design, Mechanisms & HardwareOpenAlex topic: Soft Robotics and Applications · Motion Planning & NavigationOpenAlex keyword: collision avoidance · Guidance, Dynamics & ControlOpenAlex keyword: impedance control
OpenAlexSoft Robotics and Applications · Robotic Mechanisms and Dynamics · Control Systems in Engineering
Robots in space operate in highly unstructured environments and terrains due to which compliant actuators are preferred over rigid geared actuators. Series Elastic Actuators (SEAs) are a common choice for compliant actuation as they protect both the robot and the environment from unexpected collisions. The low output impedance due to the integration of a passive compliance element makes it capable of effective stable interactions with the environment. This paper describes the development of the Series Elastic Actuator (SEA) for space application through key considerations such as transparency, torque tracking bandwidth, and impedance rendering.