Port-based modeling and optimal control for a new very versatile energy efficient actuator

Oscar Gerelli, Raffaella Carloni, Stefano Stramigioli

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

    4 Citations (Scopus)
    116 Downloads (Pure)


    In this paper, we analyze in depth the innovative very versatile and energy efficient (V2E2) actuator proposed in Stramigioli et al. (2008). The V2E2 actuator is intended to be used in all kind of robotics and powered prosthetic applications in which energy consumption is a critical issue. In particular, this work focuses on the development of a port-based Hamiltonian model of the V2E2 and presents an optimal control architecture which exploits the intrinsic hybrid characteristics of the actuator design. The optimal control guarantees the minimization of dissipative power losses during torque tracking transients.
    Original languageEnglish
    Title of host publicationProceedings of the 9th International Symposium on Robot Control
    Place of PublicationJapan
    Number of pages6
    ISBN (Print)978-3-902661-60-9
    Publication statusPublished - Sep 2009
    Event9th IFAC Symposium on Robot Control, SYROCO 2009 - Gifu, Japan, Gifu, Japan
    Duration: 9 Sep 200912 Sep 2009
    Conference number: 9

    Publication series

    NameSymposium on Robot Control
    PublisherIFAC International Federation of Automatic Control


    Conference9th IFAC Symposium on Robot Control, SYROCO 2009
    Abbreviated titleSYROCO 2009
    OtherSeptember 9-12, 2009


    • METIS-268954
    • CE-Advanced Robotics
    • EWI-17143
    • IR-71687


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