The AMASC

Jonathan Hurst, Joel Chestnutt, Al Rizzi

Overview 

This actuator is designed for use in a highly dynamic legged robot. It has fiberglass springs with a large energy storage capacity. The mechanism has two motors, one for moving the position of the knee and the other for controlling the stiffness felt at the knee. These two parameters, along with the hip angle, are used for control of a running gait.


Pictures

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AMASC in motion

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Closeup of cabling

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Entire AMASC

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Spiral pulleys

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Fiberglass springs

Movies

Changing the stiffness of the AMASC 7.5MB
Zero stiffness (zero force) 5.8MB

Publications