[Forschungspraxis/Master Thesis] System prototyping & Control Characterization of Novel Elastic Actuator

CAD Sketch of Parallel Elastic Actuator

29.04.2025, Abschlussarbeiten, Bachelor- und Masterarbeiten

Recent advancements in robotics, especially concerning humanoids and quadrupeds, are largely due to the adoption of novel actuator technologies. These technologies are involving high power density BLDC motors with a lower gear ratio, with the aim of maintaining good proprioceptive feedback for control. [1] However, active development of new actuation concepts is ongoing. One of the important directions is an augmentation of such actuators with mechanical springs for storing and releasing energy at the dynamic peaks.

Our work focuses on the development and testing of one such actuator, a version of the Parallel Elastic Actuator. This particular task includes the manufacturing of a simple test-actuator that integrates a backdrivable motor with a spring and a torque sensor connected in parallel.  Further, a performance characterization of the motor will be conducted (Bode plot analysis, etc.). Additionally, an impedance controller will be evaluated on such a setup.

What you will gain:

• Experience in Modeling and Control of Robotics systems
• Experience building, prototyping
• Best design practices for torque sensor integration in actuators
• Insights into our System Development and access to our community
• BLDC motor control

Requirements from candidates:

• Mechanical Engineering background
• Completed classical control courses (or some project experience in control)
• Any CAD software for the Part designs (such as Solidworks, Fusion 360,etc.)
• Matlab skills
• Basic skills in Electronics
• Plus are:
  • Understanding how Motors work
  • Familiarity with GIT
  • Working skills in Ubuntu operating system

To apply, you can send your CV, and short motivation to:

Supervisors

[1] P. M. Wensing, A. Wang, S. Seok, D. Otten, J. Lang and S. Kim, "Proprioceptive Actuator Design in the MIT Cheetah: Impact Mitigation and High-Bandwidth Physical Interaction for Dynamic Legged Robots," in IEEE Transactions on Robotics, vol. 33, no. 3, pp. 509-522, June 2017, doi: 10.1109/TRO.2016.2640183.

Kontakt: vasilije.rakcevic@tum.de