high-performance actuators

SLAD cycloidal actuators designed for compact, high-torque, dynamic legged robots.

Dynamic robots need actuators that combine high torque density, compact packaging, and efficient transmission of force. We develop the SLAD (Single LAyer Dual-stage) cycloidal drive as a high-performance actuator for legged robots. The cycloidal mechanism is designed to deliver large reductions and high output torque in a compact package suitable for demanding robotic joints.

We characterize the actuator hardware and its cycloidal disks as part of a broader effort to build powerful, responsive actuation for dynamic locomotion. The design supports the balance of mechanical strength, low mass, and controllable output needed for agile legged systems.

Cycloidal disks from the SLAD actuator design.

Video

SLAD cycloidal drive

Learn more about the SLAD cycloid actuator at UMass Robotics.