Variable stiffness actuators: A port-based analysis and a comparison of energy efficiency

L.C. Visser; Raffaella Carloni; Stefano Stramigioli

doi:10.1109/ROBOT.2010.5509127

Variable stiffness actuators: A port-based analysis and a comparison of energy efficiency

L.C. Visser, Raffaella Carloni, Stefano Stramigioli

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

26 Citations (Scopus)

269 Downloads (Pure)

Abstract

In this paper, a metric for comparing different designs of variable stiffness actuators is introduced. For the formulation of this metric, we focus on the energy efficiency of the actuators. In particular, we propose a metric that is a measure of how much energy is used by the actuator for changing the output stiffness. In order to facilitate the analysis of the energy usage, we present a port-based modeling framework, from which design criteria are derived for the optimization of the metric. Finally, the metric is interpreted in a comparison between existing actuators.

Original language	Undefined
Title of host publication	Proceedings of the IEEE International Conference on Intelligent Robotics and Automation, 2010
Place of Publication	USA
Publisher	IEEE
Pages	3279-3284
Number of pages	6
ISBN (Print)	978-1-4244-5038-1
DOIs	https://doi.org/10.1109/ROBOT.2010.5509127
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-270912
IR-72401
Robot Safety
CE-Advanced Robotics
Compliance and Impedance Control
EWI-18140
EC Grant Agreement nr.: FP7/231554
New Actuators for Robotics

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

Access to Document

10.1109/ROBOT.2010.5509127

Cite this

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title = "Variable stiffness actuators: A port-based analysis and a comparison of energy efficiency",

abstract = "In this paper, a metric for comparing different designs of variable stiffness actuators is introduced. For the formulation of this metric, we focus on the energy efficiency of the actuators. In particular, we propose a metric that is a measure of how much energy is used by the actuator for changing the output stiffness. In order to facilitate the analysis of the energy usage, we present a port-based modeling framework, from which design criteria are derived for the optimization of the metric. Finally, the metric is interpreted in a comparison between existing actuators.",

keywords = "METIS-270912, IR-72401, Robot Safety, CE-Advanced Robotics, Compliance and Impedance Control, EWI-18140, EC Grant Agreement nr.: FP7/231554, New Actuators for Robotics",

author = "L.C. Visser and Raffaella Carloni and Stefano Stramigioli",

note = "10.1109/ROBOT.2010.5509127 ; 2010 IEEE International Conference on Robotics and Automation, ICRA 2010 ; Conference date: 03-05-2010 Through 07-05-2010",

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doi = "10.1109/ROBOT.2010.5509127",

language = "Undefined",

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

publisher = "IEEE",

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

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Visser, LC, Carloni, R & Stramigioli, S 2010, Variable stiffness actuators: A port-based analysis and a comparison of energy efficiency. in Proceedings of the IEEE International Conference on Intelligent Robotics and Automation, 2010., 10.1109/ROBOT.2010.5509127, IEEE, USA, pp. 3279-3284, 2010 IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, Alaska, United States, 3/05/10. https://doi.org/10.1109/ROBOT.2010.5509127

Variable stiffness actuators: A port-based analysis and a comparison of energy efficiency. / Visser, L.C.; Carloni, Raffaella; Stramigioli, Stefano.
Proceedings of the IEEE International Conference on Intelligent Robotics and Automation, 2010. USA: IEEE, 2010. p. 3279-3284 10.1109/ROBOT.2010.5509127.

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

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AB - In this paper, a metric for comparing different designs of variable stiffness actuators is introduced. For the formulation of this metric, we focus on the energy efficiency of the actuators. In particular, we propose a metric that is a measure of how much energy is used by the actuator for changing the output stiffness. In order to facilitate the analysis of the energy usage, we present a port-based modeling framework, from which design criteria are derived for the optimization of the metric. Finally, the metric is interpreted in a comparison between existing actuators.

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KW - CE-Advanced Robotics

KW - Compliance and Impedance Control

KW - EWI-18140

KW - EC Grant Agreement nr.: FP7/231554

KW - New Actuators for Robotics

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BT - Proceedings of the IEEE International Conference on Intelligent Robotics and Automation, 2010

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