Luka Lin
Aerospace engineering
Hometown: Chandler, AZ, US
Graduation date: Spring 2026
Additional details: Honors student
FURI | Fall 2026, Needs Review
Development and Analytical Characterization of a Parallel Elastic Actuator for a Spined Quadruped
Under gravitational loads, the spined quadruped requires continuous consumption of electrical energy to maintain position and execute static postures. This research project develops and characterizes a passive parallel elastic actuator (PEA) utilizing dual parallel springs for reducing the required motor torque with the goal of increasing motor efficiency. An analytical model based on the mechanical design, combined with experimental testing and data-driven analysis will be used to characterize key properties such as stiffness and speed-dependent energy losses. Ultimately, this approach establishes an accessible mathematical and mechanical framework for gravity compensation, reducing motor effort and improving energy efficiency across robotic systems.
Mentor: Jiefeng Sun
It’s hip to be square.
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