Radkhah, Kathayon ; Kurowski, Stefan ; Lens, Thomas ; Stryk, Oskar von ; Stryk, Oskar von (2010)
Compliant Robot Actuation by Feedforward Controlled Emulated Spring Stiffness.
Konferenzveröffentlichung, Bibliographie
Kurzbeschreibung (Abstract)
Existing legged robots lack energy-inefficiency, performance and adaptivity when confronted with situations that animals cope with on a routine basis. Bridging the gap between artificial and natural systems requires not only better sensorimotor and learning capabilities but also a corresponding motion apparatus and intelligent actuators. Current actuators with online adaptable compliance pose high requirements on software control algorithms and sensor systems. We present a novel actuation mechanism and technique that allows for a virtual stiffness change of a deployed extended series elastic actuator without posing high energy requirements. The performance limits of the approach are assessed by comparing to an active and a passive compliant methodology. For this purpose we use a 2-degrees-of-freedom arm with and without periodic load representing a 2-segmented leg with and without ground contact. The simulation results indicate that the method is suited for the use in legged robots.
| Typ des Eintrags: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 2010 |
| Autor(en): | Radkhah, Kathayon ; Kurowski, Stefan ; Lens, Thomas ; Stryk, Oskar von ; Stryk, Oskar von |
| Art des Eintrags: | Bibliographie |
| Titel: | Compliant Robot Actuation by Feedforward Controlled Emulated Spring Stiffness |
| Sprache: | Englisch |
| Publikationsjahr: | 2010 |
| Verlag: | Springer |
| Buchtitel: | Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR) |
| Band einer Reihe: | 6472 |
| Zugehörige Links: | |
| Kurzbeschreibung (Abstract): | Existing legged robots lack energy-inefficiency, performance and adaptivity when confronted with situations that animals cope with on a routine basis. Bridging the gap between artificial and natural systems requires not only better sensorimotor and learning capabilities but also a corresponding motion apparatus and intelligent actuators. Current actuators with online adaptable compliance pose high requirements on software control algorithms and sensor systems. We present a novel actuation mechanism and technique that allows for a virtual stiffness change of a deployed extended series elastic actuator without posing high energy requirements. The performance limits of the approach are assessed by comparing to an active and a passive compliant methodology. For this purpose we use a 2-degrees-of-freedom arm with and without periodic load representing a 2-segmented leg with and without ground contact. The simulation results indicate that the method is suited for the use in legged robots. |
| Fachbereich(e)/-gebiet(e): | 20 Fachbereich Informatik 20 Fachbereich Informatik > Simulation, Systemoptimierung und Robotik |
| Hinterlegungsdatum: | 20 Jun 2016 23:26 |
| Letzte Änderung: | 15 Mär 2019 09:58 |
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