Limit cycles and stiffness control with variable stiffness actuators

Raffaella Carloni, L. Marconi

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

    3 Citations (Scopus)

    Abstract

    Variable stiffness actuators realize highly dynamic systems, whose inherent mechanical compliance can be properly exploited to obtain a robust and energy-efficient behavior. The paper presents a control strategy for variable stiffness actuators with the primarily goal of tracking a limit cycle trajectory and a desired stiffness, which is a function of the output position of the actuator. The proposed controller guarantees that the load, attached at the output of the actuation system, asymptotically tracks the desired cyclic motion and the desired stiffness even in presence of external disturbances. Experimental tests on the rotational variable stiffness actuator vsaUT-II validate the control strategy.
    Original languageUndefined
    Title of host publicationProceedings of the IEEE International Conference on Intelligent Robots and Systems
    Place of PublicationUSA
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages5083-5088
    Number of pages6
    ISBN (Print)978-1-4673-1737-5
    DOIs
    Publication statusPublished - Oct 2012
    EventIEEE/RSJ International Conference on Robotics and Intelligent Systems 2012 - Vilamoura, Portugal
    Duration: 7 Oct 201212 Oct 2012
    http://www.iros2012.org/site/

    Conference

    ConferenceIEEE/RSJ International Conference on Robotics and Intelligent Systems 2012
    Abbreviated titleIROS 2012
    CountryPortugal
    CityVilamoura
    Period7/10/1212/10/12
    Internet address

    Keywords

    • METIS-293295
    • EWI-22839

    Cite this

    Carloni, R., & Marconi, L. (2012). Limit cycles and stiffness control with variable stiffness actuators. In Proceedings of the IEEE International Conference on Intelligent Robots and Systems (pp. 5083-5088). USA: IEEE ROBOTICS AND AUTOMATION SOCIETY. https://doi.org/10.1109/IROS.2012.6385914