Multimodal actuator for legged robot

A multimodal elastic actuator based on the brake and clutch device of worm gear is designed for efficient legged robot locomotion. Several modes of operation can be outputted with the engaging and disengaging of the brake module, including motor drive, series elastic actuation, the energy storage and release. The simulation and performance experiments are applied for the multimodal actuator. The results that the output bandwidth of the system increases gradually with the increase of spring coefficient, and the knee robot leg based on multimodal elastic actuator can realize switchable mode during walking cycle.