Columbia Robotics Lab – Mobile Manipulator Project: Progress Report 3

This week at the Robotics Lab I worked on series elastic actuators, finding a cheap base for our prototype arm, and finalizing the design and parts list. I found that Mathew Williamson’s overview of series elastic actuators was useful, as well as Adam Kompf’s Exploration in Low-Cost Compliant Robotics, both from MIT’s Computer Science and Artificial Intelligence Lab. Also did some kinematics and torque calculations to figure out what kinds of motors we should order, which was fun.

diagram of compliance in Stanford’s low-cost plywood arm | Credit: Quigley, Asbeck, Ng:

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