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passive dynamics

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An energy efficiency index for elastic actuators during resonant motion
Andrea Calanca, Tom Verstraten
Journal:

Robotica / Volume 40 / Issue 5 / May 2022

Published online by Cambridge University Press:

04 October 2021, pp. 1450-1474
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The energetic advantages of series and parallel elastic actuators have been characterized in the literature considering different elastic systems and different tasks. These characterizations usually determine the energy consumption of a specific system during a specific task and generalize poorly. This paper proposes an energetic characterization of elastic actuators, following an analytical approach, rather than a data-driven one. In particular, this work analyzes the energy consumption of elastic actuators during resonant motion and introduces a novel efficiency index. This index characterizes energy consumption as a function of inherent actuator parameters only, generalizing over the specific tasks. The proposed analysis is validated using simulations and experiments, demonstrating its coherence with analytical results.