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Plate Springed Parallel Elastic Actuators for Efficient Movement of a Planar Snake Robot

This paper presents plate springed parallel elastic actuators (PEAs) for snake robots. In our previous study, compression springs are mounted on both lateral sides of the PEA-based snake robot to reduce the energy consumption. However, it grows in size and the spring might touch the outdoor environments, which disturbs the movement of the snake robot. To solve this problem, the tension spring was replaced by a plate spring. In the present paper, after analyzing the shape and force of the plate spring under the constraint of the robot joint and applying them to the dynamics, we found the optimal stiffness combination in each moving speed. Finally, the energy consumption was evaluated by the measured motor current in experiments.