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

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

4 Citations (Scopus)
69 Downloads (Pure)

Abstract

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
PublisherIFAC
Number of pages6
ISBN (Print)978-3-902661-60-9
DOIs
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
Number9

Conference

Conference9th IFAC Symposium on Robot Control, SYROCO 2009
Abbreviated titleSYROCO 2009
CountryJapan
CityGifu
Period9/09/0912/09/09
OtherSeptember 9-12, 2009

Fingerprint

Actuators
Hamiltonians
Prosthetics
Robotics
Energy utilization
Torque

Keywords

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

Cite this

Gerelli, O., Carloni, R., & Stramigioli, S. (2009). Port-based modeling and optimal control for a new very versatile energy efficient actuator. In Proceedings of the 9th International Symposium on Robot Control [79] (Symposium on Robot Control; No. 9). Japan: IFAC. https://doi.org/10.3182/20090909-4-JP-2010.00084
Gerelli, Oscar ; Carloni, Raffaella ; Stramigioli, Stefano. / Port-based modeling and optimal control for a new very versatile energy efficient actuator. Proceedings of the 9th International Symposium on Robot Control. Japan : IFAC, 2009. (Symposium on Robot Control; 9).
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abstract = "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.",
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Gerelli, O, Carloni, R & Stramigioli, S 2009, Port-based modeling and optimal control for a new very versatile energy efficient actuator. in Proceedings of the 9th International Symposium on Robot Control., 79, Symposium on Robot Control, no. 9, IFAC, Japan, 9th IFAC Symposium on Robot Control, SYROCO 2009, Gifu, Japan, 9/09/09. https://doi.org/10.3182/20090909-4-JP-2010.00084

Port-based modeling and optimal control for a new very versatile energy efficient actuator. / Gerelli, Oscar; Carloni, Raffaella; Stramigioli, Stefano.

Proceedings of the 9th International Symposium on Robot Control. Japan : IFAC, 2009. 79 (Symposium on Robot Control; No. 9).

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

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T1 - Port-based modeling and optimal control for a new very versatile energy efficient actuator

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AU - Carloni, Raffaella

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N2 - 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.

AB - 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.

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Gerelli O, Carloni R, Stramigioli S. Port-based modeling and optimal control for a new very versatile energy efficient actuator. In Proceedings of the 9th International Symposium on Robot Control. Japan: IFAC. 2009. 79. (Symposium on Robot Control; 9). https://doi.org/10.3182/20090909-4-JP-2010.00084