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

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2010, Pages 3279-3284

  Visser, L C ^a   Carloni, R ^a   Stramigioli, S ^a  

^a UNIVERSITY OF TWENTE   (Netherlands)

Author keywords

[No Author keywords available]

Indexed keywords

DESIGN CRITERION; ENERGY USAGE; MODELING FRAMEWORKS; VARIABLE STIFFNESS;

ACTUATORS; ROBOTICS; STIFFNESS;

ENERGY EFFICIENCY;

EID: 77955801930     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2010.5509127     Document Type: Conference Paper

References (10)

1. A. Bicchi, G. Tonietti, "Fast and 'Soft-Arm' Tactics: Dealing with the Safety-Performance Tradeoff in Robot Arms Design and Control", IEEE Robotics and Automation Magazine, vol. 11, pp. 22-33, 2004.
2. S. Stramigioli, G. van Oort, E. Dertien, "A concept for a new Energy Efficient Actuator", Proc. IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, 2008.
3. G. Tonietti, R. Schiavi, A. Bicchi, "Design and Control of a Variable Stiffness Actuator for Safe and Fast Physical Human/Robot Interaction", Proc. IEEE Int. Conf. on Robotics and Automation, 2005.
4. K.W. Hollander, T.G. Sugar, D.E. Herring, "Adjustable Robotic Tendon using a 'Jack Spring'™", Proc. Int. Conf. on Rehabilitation Robotics, 2005.
5. J.W. Hurst, J.E. Chestnutt, A.A. Rizzi, "An Actuator with Physically Variable Stiffness for Highly Dynamic Legged Locomotion", Proc. IEEE Int. Conf. on Robotics and Automation, 2004.
6. S. Wolf, G. Hirzinger, "A New Variable Stiffness Design: Matching Requirements of the Next Robot Generation", Proc. IEEE Int. Conf. on Robotics and Automation, 2008.
7. B. Vanderborght, N.G. Tsagarakis, C. Semini, R. van Ham, D.G. Caldwell, "MACCEPA 2.0: Adjustable Compliant Actuator with Stiffening Characteristic for Energy Efficient Hopping", Proc. IEEE Int. Conf. on Robotics and Automation, 2009.
8. 2-Gain and Passivity Techniques in Nonlinear Control, Springer, 2000.
9. L.C. Visser, R. Carloni, R. Ünal, S. Stramigioli, "Modeling and Design of Energy Efficient Variable Stiffness Actuators", Proc. IEEE Int. Conf. on Robotics and Automation, 2010.
10. B. Vanderborght, R. van Ham, D. Lefeber, T.G. Sugar, K.W. Hollander, "Comparison of Mechanical Design and Energy Consumption of Adaptable, Passive-compliant Actuators", Int. Jour. of Robotics Research, vol. 28, no. 1, pp. 90-103, 2009.