Hybrid dual actuator unit: A design of a variable stiffness actuator based on an adjustable moment arm mechanism

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2010, Pages 1655-1660

  Kim, Byeong Sang ^a   Song, Jae Bok ^a  

^a Korea University   (South Korea)

Author keywords

[No Author keywords available]

Indexed keywords

COLLISION SAFETY; CONTACT MOTION; DEFLECTION ANGLES; HYBRID CONTROLS; JOINT STIFFNESS; MOMENT ARMS; NON-LINEARITY; RAPID RESPONSE; RELATIVE MOTION; ROBOT-ENVIRONMENT INTERACTION; STIFFNESS CONTROL; STIFFNESS VARIATIONS; TWO-MOTOR; UNIT DESIGN; VARIABLE STIFFNESS;

ACTUATORS; POSITION CONTROL; ROBOTICS; ROBOTS;

STIFFNESS;

EID: 77955819267     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2010.5509264     Document Type: Conference Paper

References (11)

1. G. Tonietti, R. Schiavi, A. Bicchi, "Optimal Mechanical/Control Design for Safe and Fast Robotics," Experimental Robotics IX: The 9th International Symposium on Experimental Robotics, volume 21, pp. 311-320, 2006.
2. K. Koganezawa, T. Nakazawa and T. Inaba, "Antagonistic Control of Multi-DOF Joint by Using the Actuator with Non-Linear Elasticity," IEEE International Conference on Robotics and Automation, pp. 2201-2207, 2006.
3. J. W. Hurst, J. E. Chestnutt, and A. A. Rizzi, "An Actuator with Physical Variable Stiffness for Highly Dynamic Legged Locomotion," IEEE International Conference on Robotics and Automation, pp. 4662-4667, 2004.
4. T. Morita and S. Sugano, "Development and Evaluation of Seven-D.O.F MIA ARM," IEEE International Conference on Robotics and Automation, pp. 462-467, 1997.
5. S. Wolf and G. Hirzinger, "A New Variable Stiffness Design: Matching Requirements of the Next Robot Generation," IEEE International Conference on Robotics and Automation, pp.1741-1746, 2008.
6. G. A. Pratt, M. M. Williamson, "Series Elastic Actuators," IEEE International Conference on Intelligent Robots and Systems, pp. 399-406, 1995.
7. R. V. Ham, B. Vanderborght, M. V. Damme, B. Verrelst, D. Lefeber, "MACCEPA: the Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator for "Controlled Passive Walking," IEEE International Conference on Robotics and Automation, pp. 2195-2200, 2006.
8. B. S. Kim, J. J. Park and J. B. Song, "Double Actuator Units with Planetary Gear Train for a Safe Manipulator," IEEE International Conference on Robotics and Automation, pp. 1146-1151, 2007.
9. J. H. Choi, S. H. Hong, W. S. Lee and S. C. Kang, "A Variable Stiffness Joint using Leaf Springs for Robot Manipulators," IEEE International Conference on Robotics and Automation, pp. 4363-4368, 2009.
10. M. Zinn, O. Khatib, B. Roth, and J. K. Salisbury, "Playing It Safe - A New Actuation Concept for Human-Friendly Robot Design," IEEE Robotics & Automation Magazine, Vol. 11, pp. 12-21, 2004.
11. N. Hogan, S. P. Buerger, "Impedance and Interaction Control," Robotics and Automation Handbook, New York, NY: CRC Press, 2005.