Energy Efficient Control of Robots with Variable Stiffness Actuators


Visser, Ludo C. and Carloni, Raffaella and Stramigioli, Stefano (2010) Energy Efficient Control of Robots with Variable Stiffness Actuators. In: 8th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2010, September 1-3, 2010, Bologna, Italy (pp. pp. 1199-1204).

[img] PDF
Restricted to UT campus only
: Request a copy
Abstract:Variable stiffness actuators realize a particular class of actuators characterized by the property that the apparent output stiffness can be changed independently of the output position. This is feasible due to the presence of internal springs and internal actuated degrees of freedom. In this work, we establish a port-based model of variable stiffness actuators and we derive an energy efficient control strategy. In particular, when the variable stiffness actuator acts on a mechanical system, the internal degrees of freedom are used to achieve the desired nominal behavior and the internal springs are used as a potential energy buffer. The release of energy from the springs, as well as the apparent output stiffness, are regulated by control of the internal degrees of freedom. Simulation results on a robotic joint illustrate the effectiveness of the control strategy during the tracking of a periodic motion in presence of disturbances.
Item Type:Conference or Workshop Item
Additional information:This is a preprint of the final publication.
Copyright:© 2010 IFAC
Electrical Engineering, Mathematics and Computer Science (EEMCS)
Research Group:
Link to this item:
Conference URL:
Export this item as:BibTeX
HTML Citation
Reference Manager


Repository Staff Only: item control page

Metis ID: 276137