Radkhah, Kathayon ; Kurowski, Stefan ; Lens, Thomas ; Stryk, Oskar von ; Stryk, Oskar von (2010):
Compliant Robot Actuation by Feedforward Controlled Emulated Spring Stiffness.
6472, In: Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), pp. 497-508,
Springer, [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 ; Kurowski, Stefan ; Lens, Thomas ; Stryk, Oskar von ; 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. |
| Book Title: | Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR) |
| Series 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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| Corresponding Links: | |
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