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Compliant Robot Actuation by Feedforward Controlled Emulated Spring Stiffness

Radkhah, Kathayon ; Kurowski, Stefan ; Lens, Thomas ; Stryk, Oskar von ; Stryk, Oskar von (2010)
Compliant Robot Actuation by Feedforward Controlled Emulated Spring Stiffness.
Conference or Workshop Item, Bibliographie

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
Type of entry: Bibliographie
Title: Compliant Robot Actuation by Feedforward Controlled Emulated Spring Stiffness
Language: English
Date: 2010
Publisher: Springer
Book Title: Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)
Series Volume: 6472
Corresponding Links:
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.

Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Date Deposited: 20 Jun 2016 23:26
Last Modified: 15 Mar 2019 09:58
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