Abstract: A rotary actuator assembly is provided for actuation of an upper arm assembly for a dexterous humanoid robot. The upper arm assembly for the humanoid robot includes a plurality of arm support frames each defining an axis. A plurality of rotary actuator assemblies are each mounted to one of the plurality of arm support frames about the respective axes. Each rotary actuator assembly includes a motor mounted about the respective axis, a gear drive rotatably connected to the motor, and a torsion spring. The torsion spring has a spring input that is rotatably connected to an output of the gear drive and a spring output that is connected to an output for the joint.
Type:
Application
Filed:
July 19, 2012
Publication date:
November 8, 2012
Applicants:
The U.S.A. As Represented by the Admisnistrator of the National Aeronautics and Space Administration, GM GLOBAL TECHNOLOGY OPERATIONS, INC.
Inventors:
Chris A. Ihrke, Joshua S. Mehling, Adam H. Parsons, Bryan Kristian Griffith, Nicolaus A. Radford, Frank Noble Permenter, Donald R. Davis, Robert O. Ambrose, Lucien Q. Junkin