Design of a series-elastic actuator for a humanoid robot for space applications

Abstract

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.