TY - GEN
T1 - Energy Efficient Actuation with Variable Stiffness Actuators
AU - Visser, L.C.
AU - Carloni, Raffaella
AU - Stramigioli, Stefano
PY - 2010/10/28
Y1 - 2010/10/28
N2 - Research effort in the field of variable stiffness actuators is steadily increasing, due to their wide range of possible applications and their advantages. In literature, var- ious control methods have been proposed, solving particular problems in human-robot and robot-environment interaction applications, in which the mechanical compliance introduced by variable stiffness actuators has been shown to be beneficial. In this work, we focus on achieving energy efficient actuation of robotic systems using variable stiffness actuators. In particular, we aim to exploit the energy storing properties of the internal elastic elements.
AB - Research effort in the field of variable stiffness actuators is steadily increasing, due to their wide range of possible applications and their advantages. In literature, var- ious control methods have been proposed, solving particular problems in human-robot and robot-environment interaction applications, in which the mechanical compliance introduced by variable stiffness actuators has been shown to be beneficial. In this work, we focus on achieving energy efficient actuation of robotic systems using variable stiffness actuators. In particular, we aim to exploit the energy storing properties of the internal elastic elements.
KW - METIS-271096
KW - IR-74102
KW - EC Grant Agreement nr.: FP7/231554
KW - Energy Efficient Actuation
KW - EWI-18665
KW - Variable Stiffness Actuators
M3 - Conference contribution
SN - not assigned
SP - 5
BT - Proceedings of the 3rd Workshop for Young Researchers on Human-Friendly Robotics (HFR 2010)
PB - Max Planck Institute
CY - Tübingen, Germany
T2 - 3rd Workshop for Young Researchers on Human-Friendly Robotics, HFR 2010
Y2 - 28 October 2010 through 29 October 2010
ER -