Inertia-driven controlled passive actuation

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    A serious problem with using electrical actuators in legged locomotion is the significant energy loss. For this reason, we propose and analyse an alternative means of actuation: Controlled Passive Actuation. Controlled Passive Actuation aims at reducing the energy flow through electric actuators by actuating with a combination of an energy storage element and a Continuously Variable Transmission. In this work, we present a method where we apply a Continuously Variable Transmission with a storage element in the form of a mass to change the state of another mass (“the load‿). An abstraction layer is created to abstract the inertia-driven Controlled Passive Actuation to a source of effort, a force actuator. On this abstracted system, feedback control can be applied to achieve control goals such as path tracking. With simulations and experiments, we show that inertia-driven Controlled Passive Actuation can be used to control the state of an (inertial) load. The experimental results show that the performance of the system is affected by the internal dynamics and limited rate of change of the transmission ratio of the Continuously Variable Transmission.
    Original languageEnglish
    Title of host publicationASME 2015 Dynamic Systems and Control Conference
    PublisherAmerican Society of Mechanical Engineers (ASME)
    Number of pages9
    ISBN (Print)978-0-7918-5726-7
    Publication statusPublished - 2015
    EventASME 2015 Dynamic Systems and Control Conference, DSCC 2015 - Columbus, United States
    Duration: 28 Oct 201530 Oct 2015


    ConferenceASME 2015 Dynamic Systems and Control Conference, DSCC 2015
    CountryUnited States


    • Actuators
    • Energy recovery
    • Energy efficiency
    • Robotics

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  • Cite this

    Dresscher, D., de Vries, T. J. A., & Stramigioli, S. (2015). Inertia-driven controlled passive actuation. In ASME 2015 Dynamic Systems and Control Conference (Vol. 3). [DSCC2015-9786] American Society of Mechanical Engineers (ASME).