Modeling and design of energy efficient variable stiffness actuators

L.C. Visser; Raffaella Carloni; Ramazan Ünal; Stefano Stramigioli

doi:10.1109/ROBOT.2010.5509349

Modeling and design of energy efficient variable stiffness actuators

L.C. Visser, Raffaella Carloni, Ramazan Ünal, Stefano Stramigioli

Faculty of Engineering Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

38 Citations (Scopus)

335 Downloads (Pure)

Abstract

In this paper, we provide a port-based mathematical framework for analyzing and modeling variable stiffness actuators. The framework provides important insights in the energy requirements and, therefore, it is an important tool for the design of energy efficient variable stiffness actuators. Based on new insights gained from this approach, a novel conceptual actuator is presented. Simulations show that the apparent output stiffness of this actuator can be dynamically changed in an energy efficient way.

Original language	Undefined
Title of host publication	Proceedings of the IEEE International Conference on Robotics and Automation, 2010
Place of Publication	Unknown
Publisher	IEEE
Pages	3273-3278
Number of pages	6
ISBN (Print)	978-1-4244-5038-1
DOIs	https://doi.org/10.1109/ROBOT.2010.5509349
Publication status	Published - May 2010
Event	2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, United States Duration: 3 May 2010 → 7 May 2010

Publication series

Name
Publisher	IEEE Robotics and Automation Society Press
ISSN (Print)	1050-4729

Conference

Conference	2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Abbreviated title	ICRA
Country/Territory	United States
City	Anchorage
Period	3/05/10 → 7/05/10

Keywords

METIS-270911
IR-72400
Robot Safety
EWI-18139
Compliance and Impedance Control
EC Grant Agreement nr.: FP7/231554
CE-Advanced Robotics
New Actuators for Robotics

Access to Document

10.1109/ROBOT.2010.5509349

Cite this

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title = "Modeling and design of energy efficient variable stiffness actuators",

abstract = "In this paper, we provide a port-based mathematical framework for analyzing and modeling variable stiffness actuators. The framework provides important insights in the energy requirements and, therefore, it is an important tool for the design of energy efficient variable stiffness actuators. Based on new insights gained from this approach, a novel conceptual actuator is presented. Simulations show that the apparent output stiffness of this actuator can be dynamically changed in an energy efficient way.",

keywords = "METIS-270911, IR-72400, Robot Safety, EWI-18139, Compliance and Impedance Control, EC Grant Agreement nr.: FP7/231554, CE-Advanced Robotics, New Actuators for Robotics",

author = "L.C. Visser and Raffaella Carloni and Ramazan {\"U}nal and Stefano Stramigioli",

note = "10.1109/ROBOT.2010.5509349 ; null ; Conference date: 03-05-2010 Through 07-05-2010",

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doi = "10.1109/ROBOT.2010.5509349",

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isbn = "978-1-4244-5038-1",

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booktitle = "Proceedings of the IEEE International Conference on Robotics and Automation, 2010",

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Visser, LC, Carloni, R, Ünal, R & Stramigioli, S 2010, Modeling and design of energy efficient variable stiffness actuators. in Proceedings of the IEEE International Conference on Robotics and Automation, 2010., 10.1109/ROBOT.2010.5509349, IEEE, Unknown, pp. 3273-3278, 2010 IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, Alaska, United States, 3/05/10. https://doi.org/10.1109/ROBOT.2010.5509349

Modeling and design of energy efficient variable stiffness actuators. / Visser, L.C.; Carloni, Raffaella; Ünal, Ramazan et al.

Proceedings of the IEEE International Conference on Robotics and Automation, 2010. Unknown : IEEE, 2010. p. 3273-3278 10.1109/ROBOT.2010.5509349.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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KW - METIS-270911

KW - IR-72400

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KW - EWI-18139

KW - Compliance and Impedance Control

KW - EC Grant Agreement nr.: FP7/231554

KW - CE-Advanced Robotics

KW - New Actuators for Robotics

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