Improving Elasticity in Actuators: Novel Spring Design and Dynamics Identification

The growing application of robotics in diverse fields such as personal, social, and environmental care has necessitated advancements in legged robots capable of navigating complex terrains. However, challenges persist in enhancing the autonomy of these robots, particularly in reducing mechanical impedance to ensure robust operation on unstructured terrains. This paper introduces a novel compliant element integrated into a modular actuator to enhance flexibility and dynamic task performance. This paper also details the development and model identification of the series elastic modular actuator, including its dynamic model, constructed from a motor and a torsion spring with damping elements, validated through experimental tests.