Actuator with Mechanically Adjustable Series Compliance - Robotics Institute Carnegie Mellon University
Actuator with Mechanically Adjustable Series Compliance

Our long-term goal is to develop robots that are capable of running, jumping, and stumble recovery, while being energetically efficient. The Actuator with Mechanically Adjustable Series Compliance (AMASC) is an actuation method that utilizes a large physical spring capacity and variable compliance, to enable such highly dynamic gaits.

This actuator is designed for use in the BiMASC,a highly dynamic legged robot. It has fiberglass springs with a large energy storage capacity. The mechanism has two motors, one for moving the position of the knee and the other for controlling the stiffness felt at the knee. These two parameters, along with the hip angle, are used for control of a running gait.



AMASC in motion



Closeup of cabling


Entire AMASC



Spiral pulleys

Fiberglass springs


Movies


Changing the stiffness of the AMASC 7.5MB

Zero stiffness (zero force) 5.8MB

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current staff

past head

  • Alfred Rizzi

past staff

  • Jonathan W Hurst

past contact

  • Jonathan W Hurst