Overview
Anthropomorphic light weight robot:
- Variable passive compliance in each joint
- Human like strength
- Human like range of motion
- Robust to impacts
- Potential energy storage in joints
- 3 different variable stiffness actuator (VIA) concepts
- NO torque sensors
- Fully integrated electronics
- Modular design
|
Degrees of freedom
Motors
Position sensors
Weight
Control frequency |
26
52
112
13.5 kg
3 kHz |
Variable Stiffness Actuators (VSA)
The Hand Arm System is equipped with 3 types of Variable Stiffness Actuators:
- Antagonism (19 DoF Hand):
- 2 equivalent motors adjusting joint stiffness and position
- in-tendon progressive spring mechanism
- BAVS - Bidirectional Antagonism with Variable Stiffness Actuation (2 DoF wrist,1 DoF forearm-rotation):
- 2 equivalent motors adjusting joint stiffness and position
- Asymmetric cam disc shape
- Redundant joint actuation
- FSJ - Floating Spring Joint (4 DoF upper arm joints):
- one big motor for joint positioning
- one small motor to change the stiffness
- one single spring
Electronics
Very high integration and power density
Units integrated in the forearm:
- 44 intelligent motor modules with integrated power inverters and 180 W peak power each
- 2 FPGA based control units
- 12 V & 5 V power supplies and distribution
- Spring deflection sensors
Units integrated in the upper arm / shoulder:
- 8 motors with up to 1 kW peak power
- Modular power inverters
- Spring deflection sensors
- Control units
Customized power supply (IGOR):
- 5 Independent 24 V & 48 V outputs with soft start and fast electronic fuse to power the complete Hand Arm System
- 4 kW peak source and sink capability
- Energy storage using supercapacitors allows operation from standard wall outlet
- Control via touch screen display or USB/RS232
VIDEOS:
Driving a Nail:
http://youtu.be/qVaaGld401I
Robustness of the fingers:
http://youtu.be/YqmRKqFqiok
The arm being hit by a baseball bat:
http://youtu.be/2JT9rD5VGvQ