Performance Measurements for Robotic Actuators

Abstract

Abstract The first part of this paper present an argument on the importance of quantitative methods in robotic research. The remaining sections propose detailed performance metrics for actuator evaluation and example specifications. Several measurements which are new to actuator research are proposed: Impedance (“Backdrivability”), Force Dynamic Range and Force Fidelity. These specifications have emerged from research in robotics and haptics and address the need to obtain a more thorough understanding of machine performance.