Problem
Research questions and friction points this paper is trying to address.
humanoid ankles
torque capacity
energy efficiency
parallel elastic actuator
A Dual-Cam Parallel Elastic Actuator with Shared Gas-Spring Compensation for Humanoid Ankles
🤖 AI Summary
为提高人形机器人踝关节的扭矩能力和能效，本文提出了一种双凸轮单气弹簧并联弹性执行器，并通过数学模型优化设计了定制凸轮模块。
📝 Abstract
To improve torque capacity and energy efficiency of humanoid ankles, this paper proposes a 2-DoF parallel elastic actuator (PEA). The main novelty of the proposed design lies in its dual-cam, single-gas-spring architecture, which enables torque compensation in both pitch and roll using a shared elastic element, thereby improving structural compactness compared with conventional multi-element compensation schemes. By leveraging parallel gas springs and customized cam modules, the proposed architecture provides dual-axis torque assistance tailored to specific task requirements. The second key contribution is the formulation of a coupled 2-DoF mathematical model that explicitly captures the interdependence between the two compensation units through the shared spring. Based on this model, an optimization-based design framework is developed to synthesize customized cam profiles from prescribed torque references, establishing a systematic link from task requirements to hardware realization. The complete lower-leg CAD integration is presented in detail. Static FEA and kinematic simulations confirm the design's feasibility and torque-relief effectiveness. The results highlight the proposed design as a compact, customizable solution for 2-DoF humanoid ankle torque compensation.
Innovation
Methods, ideas, or system contributions that make the work stand out.
Dual-Cam
Single-Gas-Spring
2-DoF PEA
Torque Compensation
Customized Cam Profiles
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