Limit cycles and stiffness control with variable stiffness actuators

Raffaella Carloni; L. Marconi

doi:10.1109/IROS.2012.6385914

Limit cycles and stiffness control with variable stiffness actuators

Raffaella Carloni, L. Marconi

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-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 language	Undefined
Title of host publication	Proceedings of the IEEE International Conference on Intelligent Robots and Systems
Place of Publication	USA
Publisher	IEEE Robotics and Automation Society
Pages	5083-5088
Number of pages	6
ISBN (Print)	978-1-4673-1737-5
DOIs	https://doi.org/10.1109/IROS.2012.6385914
Publication status	Published - Oct 2012
Event	IEEE/RSJ International Conference on Robotics and Intelligent Systems 2012 - Vilamoura, Portugal Duration: 7 Oct 2012 → 12 Oct 2012 http://www.iros2012.org/site/

Conference

Conference	IEEE/RSJ International Conference on Robotics and Intelligent Systems 2012
Abbreviated title	IROS 2012
Country/Territory	Portugal
City	Vilamoura
Period	7/10/12 → 12/10/12
Internet address	http://www.iros2012.org/site/

Keywords

METIS-293295
EWI-22839

Access to Document

10.1109/IROS.2012.6385914

Cite this

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title = "Limit cycles and stiffness control with variable stiffness actuators",

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.",

keywords = "METIS-293295, EWI-22839",

author = "Raffaella Carloni and L. Marconi",

note = "10.1109/IROS.2012.6385914 ; null ; Conference date: 07-10-2012 Through 12-10-2012",

year = "2012",

month = oct,

doi = "10.1109/IROS.2012.6385914",

language = "Undefined",

isbn = "978-1-4673-1737-5",

pages = "5083--5088",

booktitle = "Proceedings of the IEEE International Conference on Intelligent Robots and Systems",

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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. IEEE Robotics and Automation Society, USA, pp. 5083-5088, IEEE/RSJ International Conference on Robotics and Intelligent Systems 2012, Vilamoura, Portugal, 7/10/12. https://doi.org/10.1109/IROS.2012.6385914

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AU - Carloni, Raffaella

AU - Marconi, L.

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PY - 2012/10

Y1 - 2012/10

N2 - 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.

AB - 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.

KW - METIS-293295

KW - EWI-22839

U2 - 10.1109/IROS.2012.6385914

DO - 10.1109/IROS.2012.6385914

M3 - Conference contribution

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BT - Proceedings of the IEEE International Conference on Intelligent Robots and Systems

PB - IEEE Robotics and Automation Society

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Y2 - 7 October 2012 through 12 October 2012

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