Variable impedance actuators: moving the robots of tomorrow

B. Vanderborght; A. Albu-Schaeffer; A. Bicchi; E. Burdet; D.G. Caldwell; R. Carloni; M.G. Catalano; G. Ganesh; M. Garabini; G. Grioli; S. Haddadin; A. Jafari; M. Laffranchi; D. Lefeber; F. Petit; S. Stramigioli; N. Tsagarakis; M. van Damme; R. van Ham; L.C. Visser; S. Wolf

doi:10.1109/IROS.2012.6385433

Variable impedance actuators: moving the robots of tomorrow

B. Vanderborght, A. Albu-Schaeffer, A. Bicchi, E. Burdet, D.G. Caldwell, R. Carloni, M.G. Catalano, G. Ganesh, M. Garabini, G. Grioli, S. Haddadin, A. Jafari, M. Laffranchi, D. Lefeber, F. Petit, S. Stramigioli, N. Tsagarakis, M. van Damme, R. van Ham, L.C. VisserS. Wolf

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

39 Citations (Scopus)

Abstract

Most of today's robots have rigid structures and actuators requiring complex software control algorithms and sophisticated sensor systems in order to behave in a compliant and safe way adapted to contact with unknown environments and humans. By studying and constructing variable impedance actuators and their control, we contribute to the development of actuation units which can match the intrinsic safety, motion performance and energy efficiency of biological systems and in particular the human. As such, this may lead to a new generation of robots that can co-exist and co-operate with people and get closer to the human manipulation and locomotion performance than is possible with current robots.

Original language	English
Title of host publication	2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
Place of Publication	Piscataway, NJ
Publisher	IEEE Robotics and Automation Society
Pages	5454-5455
Number of pages	2
ISBN (Electronic)	978-1-4673-1736-8
ISBN (Print)	978-1-4673-1737-5
DOIs	https://doi.org/10.1109/IROS.2012.6385433
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/

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10.1109/IROS.2012.6385433

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Vanderborght, B., Albu-Schaeffer, A., Bicchi, A., Burdet, E., Caldwell, D. G., Carloni, R., Catalano, M. G., Ganesh, G., Garabini, M., Grioli, G., Haddadin, S., Jafari, A., Laffranchi, M., Lefeber, D., Petit, F., Stramigioli, S., Tsagarakis, N., van Damme, M., van Ham, R., ... Wolf, S. (2012). Variable impedance actuators: moving the robots of tomorrow. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 5454-5455). IEEE Robotics and Automation Society. https://doi.org/10.1109/IROS.2012.6385433

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title = "Variable impedance actuators: moving the robots of tomorrow",

abstract = "Most of today's robots have rigid structures and actuators requiring complex software control algorithms and sophisticated sensor systems in order to behave in a compliant and safe way adapted to contact with unknown environments and humans. By studying and constructing variable impedance actuators and their control, we contribute to the development of actuation units which can match the intrinsic safety, motion performance and energy efficiency of biological systems and in particular the human. As such, this may lead to a new generation of robots that can co-exist and co-operate with people and get closer to the human manipulation and locomotion performance than is possible with current robots.",

author = "B. Vanderborght and A. Albu-Schaeffer and A. Bicchi and E. Burdet and D.G. Caldwell and R. Carloni and M.G. Catalano and G. Ganesh and M. Garabini and G. Grioli and S. Haddadin and A. Jafari and M. Laffranchi and D. Lefeber and F. Petit and S. Stramigioli and N. Tsagarakis and {van Damme}, M. and {van Ham}, R. and L.C. Visser and S. Wolf",

year = "2012",

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doi = "10.1109/IROS.2012.6385433",

language = "English",

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

pages = "5454--5455",

booktitle = "2012 IEEE/RSJ International Conference on Intelligent Robots and Systems",

publisher = "IEEE Robotics and Automation Society",

address = "United States",

note = "IEEE/RSJ International Conference on Robotics and Intelligent Systems 2012, IROS 2012 ; Conference date: 07-10-2012 Through 12-10-2012",

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Vanderborght, B, Albu-Schaeffer, A, Bicchi, A, Burdet, E, Caldwell, DG, Carloni, R, Catalano, MG, Ganesh, G, Garabini, M, Grioli, G, Haddadin, S, Jafari, A, Laffranchi, M, Lefeber, D, Petit, F, Stramigioli, S, Tsagarakis, N, van Damme, M, van Ham, R, Visser, LC & Wolf, S 2012, Variable impedance actuators: moving the robots of tomorrow. in 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE Robotics and Automation Society, Piscataway, NJ, pp. 5454-5455, IEEE/RSJ International Conference on Robotics and Intelligent Systems 2012, Vilamoura, Portugal, 7/10/12. https://doi.org/10.1109/IROS.2012.6385433

Variable impedance actuators: moving the robots of tomorrow. / Vanderborght, B.; Albu-Schaeffer, A.; Bicchi, A. et al.

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, NJ : IEEE Robotics and Automation Society, 2012. p. 5454-5455.

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

TY - GEN

T1 - Variable impedance actuators: moving the robots of tomorrow

AU - Vanderborght, B.

AU - Albu-Schaeffer, A.

AU - Bicchi, A.

AU - Burdet, E.

AU - Caldwell, D.G.

AU - Carloni, R.

AU - Catalano, M.G.

AU - Ganesh, G.

AU - Garabini, M.

AU - Grioli, G.

AU - Haddadin, S.

AU - Jafari, A.

AU - Laffranchi, M.

AU - Lefeber, D.

AU - Petit, F.

AU - Stramigioli, S.

AU - Tsagarakis, N.

AU - van Damme, M.

AU - van Ham, R.

AU - Visser, L.C.

AU - Wolf, S.

PY - 2012/10

Y1 - 2012/10

N2 - Most of today's robots have rigid structures and actuators requiring complex software control algorithms and sophisticated sensor systems in order to behave in a compliant and safe way adapted to contact with unknown environments and humans. By studying and constructing variable impedance actuators and their control, we contribute to the development of actuation units which can match the intrinsic safety, motion performance and energy efficiency of biological systems and in particular the human. As such, this may lead to a new generation of robots that can co-exist and co-operate with people and get closer to the human manipulation and locomotion performance than is possible with current robots.

AB - Most of today's robots have rigid structures and actuators requiring complex software control algorithms and sophisticated sensor systems in order to behave in a compliant and safe way adapted to contact with unknown environments and humans. By studying and constructing variable impedance actuators and their control, we contribute to the development of actuation units which can match the intrinsic safety, motion performance and energy efficiency of biological systems and in particular the human. As such, this may lead to a new generation of robots that can co-exist and co-operate with people and get closer to the human manipulation and locomotion performance than is possible with current robots.

U2 - 10.1109/IROS.2012.6385433

DO - 10.1109/IROS.2012.6385433

M3 - Conference contribution

SN - 978-1-4673-1737-5

SP - 5454

EP - 5455

BT - 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

PB - IEEE Robotics and Automation Society

CY - Piscataway, NJ

T2 - IEEE/RSJ International Conference on Robotics and Intelligent Systems 2012

Y2 - 7 October 2012 through 12 October 2012

ER -

Variable impedance actuators: moving the robots of tomorrow

Abstract

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