Some things to consider:
The springs in SEAs are where the magic happens. Choosing the right stiffness is a balancing act between getting precise torque control and avoiding sluggish responses. Since the spring is constantly flexing, you need sensors tuned to give accurate torque measurements. Do it regularly, and you'll keep those movements smooth and predictable. You want finely-tuned control loops to make SEAs shine. A high-frequency loop can make your robot more agile in handling external forces. PID controllers are a solid starting point, or you can try out some advanced strategies.
Calibration is your best buddy. Since the spring is constantly flexing, you need sensors tuned to give accurate torque measurements. Do it regularly, and you'll keep those movements smooth and predictable. You want finely-tuned control loops to make SEAs shine. A high-frequency loop can make your robot more agile in handling external forces. PID controllers are a solid starting point, or you can try out some advanced strategies. Friction can really impact your torque control, especially in gearboxes and linkages. Using low-friction components and proper lubrication will help keep everything moving smoothly. Make sure your spring is positioned directly between the actuator and the joint. If not, your robot won’t get the full benefit of force sensing, and that precision will be lost. Springs aren’t indestructible. If your robot is doing a lot of high-impact activities, the springs can wear out. Keep an eye on them to avoid breakdowns when you least expect them. SEAs thrive on real-time feedback. Ensure your software can handle data quickly, maybe using a real-time operating system or optimized signal processing.
==== MIT Cheetah Actuator ====
