RA-L 20260 citations
Design and Control of a Parallel Elastic Actuator With Adjustable Equilibrium Position
Yixi Chen, Evangelos Chatziandreou, Chase W. Mathews, Beau Johnson, David J. Braun
Abstract
We present an adjustable-equilibrium parallel elastic actuator (AE-PEA) that combines a large direct-drive motor (DDM) and a 3D printed torsional spring with a small motor that can continuously adjust the equilibrium position of the actuator. We demonstrate that the AE-PEA achieves high torque control bandwidth like direct-drive actuators (DDAs), energy storage and shock mitigation like parallel elastic actuators (PEAs), and equilibrium position adjustment similar to series elastic actuators (SEAs). Owing to these features, we foresee the benefit of AE-PEAs in robot joints performing a variety of static load bearing and dynamic oscillatory motion.
BibTeX
@inproceedings{ral2026_designandcontrol,
title = {Design and Control of a Parallel Elastic Actuator With Adjustable Equilibrium Position},
author = {Yixi Chen and Evangelos Chatziandreou and Chase W. Mathews and Beau Johnson and David J. Braun},
booktitle = {RA-L 2026},
year = {2026}
}