开发新型双向螺旋弹簧弹性执行器，实现小型机器人的柔顺跳跃与抗冲击能力。
Development of Bidirectional Series Elastic Actuator with Torsion Coil Spring and Implementation to the Legged Robot
- 采用螺旋弹簧+创新固定结构，实现双向旋转力高精度测量与缓冲。
- 单腿机器人在跌落测试中通过简单PD控制实现柔性着陆和持续跳跃。
- 适用于需动态运动的小型人形机器人，尤其适合娱乐类机器人研发。
为提升机器人关节的柔顺性、安全性和能效，研究广泛采用串联弹性执行器（SEA）。SEA具备强抗扰能力，有望应用于人机交互场景。与此同时，面向室内娱乐的小型机器人开发也在推进，若引入SEA，可实现跳跃、奔跑等动态行为。本文设计并实现了一种小型轻量化SEA，采用螺旋弹簧作为弹性元件，并通过改进固定方式，使执行器可在双向旋转中同时实现有效减震与精确力感知。为验证性能，构建了三关节（髋、膝、踝）均配备该SEA的小型单腿机器人，并进行跌落测试。通过调节各关节初始姿态与控制增益，仅用简单的PD位置控制即实现了柔性着陆与连续跳跃。实测表明，该SEA在冲击吸收与能量回收方面表现优异。本工作仅用于科研目的。
原文摘要 · Abstract (English)
Many studies have been conducted on Series Elastic Actuators (SEA) for robot joints because they are effective in terms of flexibility, safety, and energy efficiency. The ability of SEA to robustly handle unexpected disturbances has raised expectations for practical applications in environments where robots interact with humans. On the other hand, the development and commercialization of small robots for indoor entertainment applications is also actively underway, and it is thought that by using SEA in these robots, dynamic movements such as jumping and running can be realized. In this work, we developed a small and lightweight SEA using coil springs as elastic elements. By devising a method for fixing the coil spring, it is possible to absorb shock and perform highly accurate force measurement in both rotational directions with a simple structure. In addition, to verify the effectiveness of the developed SEA, we created a small single-legged robot with SEA implemented in the three joints of the hip, knee, and ankle, and we conducted a drop test. By adjusting the initial posture and control gain of each joint, we confirmed that flexible landing and continuous hopping are possible with simple PD position control. The measurement results showed that SEA is effective in terms of shock absorption and energy reuse. This work was performed for research purposes only.
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