What is the torque bandwidth of this actuator?

Jorn Malzahn, Navvab Kashiri, Wesley Roozing, Nikos Tsagarakis, Darwin Caldwell

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

6 Citations (Scopus)


The paper proposes a method to assess the feasible torque bandwidth for electrically driven torque controllable actuators over its entire torque amplitude range. The method solely relies on the knowledge of hardware parameters and thereby determines the physically feasible torque control bandwidth at a given torque amplitude, independent of a controller. The method yields torque-frequency diagrams that are suitable to benchmark torque controllers, formulate actuator design specifications and compare as well as select actuators for a specific torque control application. The paper exemplifies the method on a WALK-MAN leg actuator with locked actuator output and the more practical case of a varying load inertia.

Original languageEnglish
Title of host publicationIROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
Number of pages7
ISBN (Electronic)9781538626825
Publication statusPublished - 13 Dec 2017
Externally publishedYes
EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017: Friendly People, Friendly Robots - Vancouver, Canada
Duration: 24 Sep 201728 Sep 2017


ConferenceIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
Abbreviated titleIROS 2017
Internet address

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