Series Elastic Actuator for Dynamixel MX64 and MX106
thingiverse
We utilize a Series Elastic Actuator (SEA) in our humanoid robot Dimitri at the Univ. Federal de Santa Maria, Brazil. These components are engineered to be connected to a Dynamixel actuator. The outcome is a torsional spring in series with the original actuator. We measure the angular displacement of the torsional spring using a custom circuit. This enables us to determine the torque on the actuator and control the resulting angular position. For the circuit board and firmware, please visit: https://github.com/TauraBots/SEA_firmware If you employ this work in an academic endeavor, we kindly request that you cite one of the following publications: Martins, Leandro Tomé, et al. "A Polyurethane-based Compliant Element for Upgrading Conventional Servos into Series Elastic Actuators" IFAC-PapersOnLine 48.19 (2015): 112-117. http://www.sciencedirect.com/science/article/pii/S2405896315026439 Tatsch, Christopher, et al. "Dimitri: an Open-Source Humanoid Robot with Compliant Joint." Journal of Intelligent & Robotic Systems (2017): 1-10. https://link.springer.com/article/10.1007/s10846-017-0727-y
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