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We design, build, and thoroughly test a new type of actuator dubbedviscoelastic liquid cooled actuator (VLCA) for robotic applications. VLCAsexcel in the following five critical axes of performance: energy efficiency,torque density, impact resistence, joint position and force controllability. Wefirst study the design objectives and choices of the VLCA to enhance theperformance on the needed criteria. We follow by an investigation onviscoelastic materials in terms of their damping, viscous and hysteresisproperties as well as parameters related to the long- term performance. As partof the actuator design, we configure a disturbance observer to providehigh-fidelity force control to enable a wide range of impedance controlcapabilities. We proceed to design a robotic system capable to lift payloads of32.5 kg, which is three times larger than its own weight. In addition, weexperiment with Cartesian trajectory control up to 2 Hz with a vertical rangeof motion of 32 cm while carrying a payload of 10 kg. Finally, we performexperiments on impedance control and mechanical robustness by studying theresponse of the robotics testbed to hammering impacts and external forceinteractions.

Investigations of a Robotic Testbed with Viscoelastic Liquid Cooled Actuators