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Compliant Robot Actuation by Feedforward Controlled Emulated Spring Stiffness

Radkhah, Kathayon and Kurowski, Stefan and Lens, Thomas and Stryk, Oskar von and Stryk, Oskar von (2010):
Compliant Robot Actuation by Feedforward Controlled Emulated Spring Stiffness.
In: Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), Springer, 6472, [Conference or Workshop Item]

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.

Item Type: Conference or Workshop Item
Erschienen: 2010
Creators: Radkhah, Kathayon and Kurowski, Stefan and Lens, Thomas and Stryk, Oskar von and Stryk, Oskar von
Title: Compliant Robot Actuation by Feedforward Controlled Emulated Spring Stiffness
Language: English
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.

Title of Book: Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)
Volume: 6472
Publisher: Springer
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Date Deposited: 20 Jun 2016 23:26
Identification Number: rdkhh-kurowski:2010
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