Research
· our · research ·Our Scientific Program forms the foundation of our product development strategy. Its core objective is to deepen our understanding of how robots can interact more intelligently and safely with their environments and with people.
At PULSAR, we believe that high-performance actuation and physical intelligence must evolve together. Over the past three years, our team has explored the fundamental principles of physical robot–environment interaction, leading to the development of novel metrics and actuator designs that push the boundaries of agility, safety, and proprioception in robotics.
A key outcome of this work is the Generalised Impact Absorption Factor (GIAF) – a universal metric designed to evaluate a robot’s capacity to absorb impact forces. Unlike earlier approaches, GIAF incorporates both robot configuration and actuator inertia, making it suitable for both floating and fixed-base platforms. This metric provides engineers with a valuable tool for assessing joint backdrivability and impact mitigation, ultimately supporting safer and more responsive human–robot collaboration.
We have also contributed significantly to the field of actuator performance characterization. Our research introduces experimental methods for accurately measuring torque bandwidth, backdrive torque, and mechanical backlash. In 2024, we proposed a standardized benchmarking approach, showcasing how real actuator performance can be reliably assessed. These methods have demonstrated that our actuators consistently outperform conventional benchmarks for collaborative and legged robotics applications.
Publications
Abstract
This paper presents the design and experimental results of a proprioceptive, high-bandwidth quasi direct drive (QDD) actuator for highly dynamic robotic applications. A comprehensive review of the mechanical design of the actuator is presented, with particular focus on the design parameters affecting the dynamic performance of the actuator. After the description of the new PULSE115-60 actuator, a full specification is provided. Fundamental parameters to describe the dynamic behaviour of an actuator are discussed, and an experimental method to determine speed and torque bandwidth of the actuator is presented. A rigorous method to determine backdrive torque is also explained. Finally, experimental results quantifying the dynamic performance of the PULSE115-60 actuator are discussed. The PULSE115-60 actuator has a highly dynamic response, surpassing the torque bandwidth at low torque amplitudes showcased in state-of-the-art literature. The differences between current and torque bandwidth, two concepts often conflated in literature, are elucidated. Experimental procedures detailed in previous work are discussed and a novel standardised procedure is proposed for robust characterisation and fair comparison of different actuation systems. Finally, performance results for PULSE115-60 are presented, reaching a real torque bandwidth of 66.3 Hz at an amplitude of 6 N·m, +-0.11º of backlash and 0.37 N·m of backdrive torque.
Full paper
Abstract
Physical Human-Robot Interaction(pHRI) requires taking safety into account from the design board to the collaborative operation of any robot. For collaborative robotic environments, where human and machine are sharing space and interacting physically, the analysis and quantification of impacts becomes very relevant and necessary. Furthermore, analyses of this kind are a valuable source of information for the design of safer, more efficient pHRI. In the definition of the first parameter for dynamic impact analysis, the dynamic impact mitigation capacity was considered for certain configurations of the robot, but the design characteristics of the robot, such as the inertia of actuators, were not included. This paradigm changed when MIT presented the “impact mitigation factor” (IMF) with which, in addition to considering the ability of a certain robot to mitigate impacts for every configuration, it was possible to quantify backdrivability by taking the inertia of actuators into account for the calculation of the factor. However, IMF was proposed as a method to analyse floating robots like. This paper presents the Generalised Impact Absorption Factor (GIAF), suitable for both floating and fixed-base robots. GIAF is a valuable design parameter, as it provides information about the backdrivability of each joint, while allowing the comparison of impact response between floating and fixed-base robotic platforms. In this work, the mathematical definition of GIAF is developed and examples of possible uses of GIAF are presented.
Full paper