Energy Efficient Actuation with Variable Stiffness Actuators


Visser, Ludo C. and Carloni, Raffaella and Stramigioli, Stefano (2010) Energy Efficient Actuation with Variable Stiffness Actuators. In: 3rd Workshop for Young Researchers on Human-Friendly Robotics, HFR 2010, 28-29 October 2010, Tübingen, Germany.

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Abstract:Research effort in the field of variable stiffness actuators is steadily increasing, due to their wide range of possible applications and their advantages. In literature, var- ious control methods have been proposed, solving particular problems in human-robot and robot-environment interaction applications, in which the mechanical compliance introduced by variable stiffness actuators has been shown to be beneficial. In this work, we focus on achieving energy efficient actuation of robotic systems using variable stiffness actuators. In particular, we aim to exploit the energy storing properties of the internal elastic elements.
Item Type:Conference or Workshop Item
Electrical Engineering, Mathematics and Computer Science (EEMCS)
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