Torque-compensation for energy-efficient motion of robotic limbs in a stance
- 25 Downloads
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.
KeywordsEnergy-efficient motion Robotic limbs Torque-compensation Variable stiffness
Unable to display preview. Download preview PDF.
- G. A. Pratt and M. M. Williamson, Series elastic actuators, IEEE/RSJ International Conference on Intelligent Robots and Systems, Pittsburg, Pennsylvania, USA (1995) 399–406.Google Scholar
- D. W. Robinson, J. E. Pratt, D. J. Paluska and G. A. Pratt, Series elastic actuator development for a biomimetic walking robot, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Atlanta, Georgia, USA (1999) 561–568.Google Scholar
- C. Knabe, B. Lee, V. Orekhov and D. Hong, Design of acompact, lightweight, electromechanical linear series elastic actuator, Proceedings of the ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Buffalo, New York, USA (2014) 1–8.Google Scholar
- B. S. Kim and J. B. Song, Hybrid dual actuator unit: A design of a variable stiffness actuator based on an adjustable moment arm mechanism, Proceedings of the IEEE International Conference on Robotics & Automation, Anchorage, Alaska, USA (2010) 1655–1660.Google Scholar