Modeling and design of energy efficient variable stiffness actuators

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

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

35 Citations (Scopus)
236 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 languageUndefined
Title of host publicationProceedings of the IEEE International Conference on Robotics and Automation, 2010
Place of PublicationUnknown
PublisherIEEE Robotics and Automation Society Press
Pages3273-3278
Number of pages6
ISBN (Print)978-1-4244-5038-1
DOIs
Publication statusPublished - May 2010
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, United States
Duration: 3 May 20107 May 2010

Publication series

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

Conference

Conference2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Abbreviated titleICRA
CountryUnited States
CityAnchorage
Period3/05/107/05/10

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

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