UT-SEA: Compact, High Power, Light-Weight, Series Elastic Actuator
UT-SEA is a compact, light-weight, high-power actuator designed to enable energetic and high speed locomotion in electrically actuated legged systems. It uses a ballscrew as the primary speed reduction mechanism resulting in very high operating efficiency. The actuator is mounted on a set of springs which allows it to tolerate impact loads, store energy, and control force with high fidelity.
ONR, funds our project “HAWK: Hyper-Agile WalKing Controller for Bipedal Robots Aboard Navy Vessels”
Rough Terrain Manipulation Using the Dreamer/Meka Mobile Humanoid
DARPA Robotics Challenge
The New Hume Bipedal Robot
The new Dreamer/Meka compliant humanoid robot
Series Elastic Actuator of Hume
Slides from Humanoids 2011
Illustrations of the Hume Biped for Fast Locomotion in Irregular Terrains
UT Austin’s biped robot for fast rough terrain locomotion. The Hume biped will be capable of maneuvering on terrains with height variations between 0-40 [cm] at speeds above 1 [m/s]. It uses SEA actuators with joint velocities above 10 [rad/s] and joint torques above 100 [Nm]. Its overall weight is 15 [Kg] and its overall height is 1.6 [m] thus resembling a mid size person.
