Controlled passive actuation: concepts for energy efficient actuation using mechanical storage elements and continuously variable transmissions

    Research output: ThesisPhD Thesis - Research UT, graduation UT

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    Walking robots consume more energy for locomotion than their wheeled and tracked counterparts. To achieve energy autonomous operation, a robot needs to run on energy that is harvested from its environment. In this light, it is meaningful to address reduction of energy consumption. The contribution of the research discussed in this thesis is twofold. Firstly, we increase insight in the mechanisms of energy loss by supplementing prior work with an analysis of the energetic losses in electric actuators. Secondly, we made steps towards the reduction of energy losses by including a mechanical storage element (a spring or flywheel) and a Continuously Variabel Transmission. We have named this actuation concept Controlled Passive Actuation and experimented with two setups to prove the concept. As part of this effort, two novel designs of Continuously Variable Transmissions are discussed.
    Original languageUndefined
    Awarding Institution
    • University of Twente
    • Stramigioli, Stefano, Supervisor
    • de Vries, Theodorus J.A., Advisor
    Thesis sponsors
    Award date9 Nov 2016
    Place of PublicationEnschede
    Print ISBNs9789036541886
    Publication statusPublished - 9 Nov 2016


    • EWI-27733
    • METIS-318185
    • IR-101667

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