Journal of Mechanical Science and Technology

, Volume 32, Issue 12, pp 5907–5912 | Cite as

Torque-compensation for energy-efficient motion of robotic limbs in a stance

  • Junghwan Yun
  • Hak YiEmail author
  • Sangryong LeeEmail author


This paper addresses a new variable stiffness actuator (VSA) of a walking robot in a stance that can actively regulate a spring preload through correlation between spring reaction forces and joint variables. Here, VSA aims to realize energy-efficient stance motion of robotic limbs system from changing working conditions of a walking robot. Compared to conventional spring-loaded structures, it can effectively control both a spring stiffness and a spring-clamping configuration on humanoid’s lower body responding on uncertainties. ADAMS / MATLAB co-simulation system and experiments on the proposed VSA system as an active torque compensator are investigated for realizing energy-efficient motion in a robot’s stance.


Energy-efficient motion Robotic limbs Torque-compensation Variable stiffness 


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Copyright information

© The Korean Society of Mechanical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  1. 1.School of Mechanical EngineeringKyungpook National UniversityDaeguKorea

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