Skip to main content
SpringerLink
Log in

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

  • Published:
Journal of Mechanical Science and Technology Aims and scope Submit manuscript

Abstract

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.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. 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 

  2. 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 

  3. D. Lahr, H. Yi and D. Hong, Biologically inspired design of a parallel actuated humanoid robot, Advanced Robotics, 30 (2) (2016) 109–118.

    Article  Google Scholar 

  4. D. Accoto, G. Carpino, F. Sergi, N. L. Tagliamonte, L. Zollo and E. Guglielmelli, Design and characterization of a novel high–power series elastic actuator for a lower limb robotic orthosis, International Journal of Advanced Robotic Systems, 10 (10) (2013) 1–12.

    Article  Google Scholar 

  5. J. H. Yoo, M. W. Hyun, J. H. Choi, S. C. Kang and S. J. Kim, Optimal design of a variable stiffness joint in a robot manipulator using the response surface method, Journal of Mechanical Science and Technology, 23 (2009) 2236–2243.

    Article  Google Scholar 

  6. H. Vallery, J. Veneman, E. V. Asseldonk, R. Ekkelenkamp, M. Buss and H. V. D. Kooij, Compliant actuation of rehabilitation robots: Benefits and limitations of series elastic actuators, IEEE Robotics & Automation Magazine, 15 (3) (2008) 60–69.

    Article  Google Scholar 

  7. E. J. Rouse, L. M. Mooney and H. M. Herr, Clutchable series–elastic actuator: Implications for prosthetic knee design, The International Journal of Robotics Research, 33 (13) (2014) 1–15.

    Article  Google Scholar 

  8. 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 

  9. N. Paine and L. Sentis, A new prismatic series elastic actuator with compact size and high performance, IEEE International Conference on Robotics and Biomimetics, Guangzhou, China (2012).

    Book  Google Scholar 

  10. S. Wolf et al., Variable stiffness actuators: Review on design and components, IEEE/ASME Transactions on Mechatronics, 21 (5) (2016) 2418–2430.

    Article  Google Scholar 

  11. 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 

  12. K. Nam, B. Kim and J. Song, Compliant actuation of parallel–type variable stiffness actuator based on antagonistic actuation, Journal of Mechanical Science and Technology, 24 (11) (2010) 2315–2321.

    Article  Google Scholar 

  13. B. Vanderborght et al., Variable impedance actuators: A review, Robotics and Autonomous Systems, 61 (12) (2013) 1601–1614.

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. School of Mechanical Engineering, Kyungpook National University, Daegu, 41566, Korea

    Junghwan Yun, Hak Yi & Sangryong Lee

Authors
  1. Junghwan Yun
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Hak Yi
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Sangryong Lee
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding authors

Correspondence to Hak Yi or Sangryong Lee.

Additional information

Recommended by Editor Ja Choon Koo

Junghwan Yun received his B.S. and M.S. degrees in the Department of Mechanical Engineering from Kyungpook National University, Korea in 2016 and 2018, repectively. His research interests are design and control of the robotic system.

Hak Yi received his B.S. (2005) and M.S.(2008) degrees in the Department of Mechanical Engineering from Chonbuk National University and Ph.D. at Texas A&M University (2012). His research interests are design and control of robotic system. Currently He is an Assistant Professor in the School of Mechanical Engineering at Kyungpook National University since 2016.

Sangryong Lee received his B.S. degree (1980) and M.S. degree (1982) from the Department of Mechanical Engineering at Seoul National University and at KAIST, respectively. He received his Ph.D. degree in the Department of Mechanical Engineering from Georgia Institute of Technology, U.S.A. in 1989. Currently, he is a Professor of the School of Mechanical Engineering at Kyungpook National University. His research interests are design and control of mobile robots, intelligent systems and automation.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Yun, J., Yi, H. & Lee, S. Torque-compensation for energy-efficient motion of robotic limbs in a stance. J Mech Sci Technol 32, 5907–5912 (2018). https://doi.org/10.1007/s12206-018-1141-5

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s12206-018-1141-5

Keywords

Search

Navigation