Control of a variable stiffness joint for catching a moving object

Ajinkya A. Bhole, Julian Kumle, Stefan S. Groothuis, Raffaella Carloni

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    2 Citations (Scopus)
    132 Downloads (Pure)

    Abstract

    The paper presents a control method to catch a moving object with a joint actuated by means of a variable stiffness actuator. The controller is designed such that the variable stiffness joint acts as a virtual damper that absorbs the kinetic energy of the moving object. The virtual damping and the output stiffness of the variable stiffness actuator are the control variables. To obtain a critically damped system, the damping coefficient is scheduled on both the output stiffness and the inertia of the system. Experiments on the rotational variable stiffness actuator vsaUT-II validate the control method.

    Original languageEnglish
    Title of host publication2017 IEEE/RSJ International Conference on Intelligent Robots and Systems
    PublisherIEEE
    Pages4756-4761
    Number of pages6
    Volume2017-September
    ISBN (Electronic)9781538626825
    DOIs
    Publication statusPublished - 13 Dec 2017
    EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017: Friendly People, Friendly Robots - Vancouver, Canada
    Duration: 24 Sep 201728 Sep 2017
    http://iros2017.org/
    https://www.iros2017.org/

    Conference

    ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
    Abbreviated titleIROS 2017
    CountryCanada
    CityVancouver
    Period24/09/1728/09/17
    Internet address

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