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Towards a robust variable stiffness actuator
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013Robots with Variable Stiffness Actuators (VSA) are intrinsically flexible in the joints. The built-in mechanical spring not only has the advantage of a higher peak performance, but also leads to a more robust robot. This paper presents and analyzes the threats to a VSA equipped robot that arise from external or internal origin. Influences of mechanical,
Wolf, Sebastian +1 more
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Variable Stiffness Actuator Structure for Robot
2021Based on the idea of regulating the variation on stiffness by controlling the number of springs involved in the work, this paper designs a kind of variable stiffness actuator (VSA) which can be applied to the field of robot. The variable stiffness structure takes the spiral tensile spring as the elastic element, and the number of springs Participating ...
Chuanyi Cui, Kai Guo 0004, Jie Sun 0023
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A position and stiffness control strategy for variable stiffness actuators
2012 IEEE International Conference on Robotics and Automation, 2012Variable stiffness actuators (VSAs) have been introduced to improve, at the design level, the safety and the energy efficiency of the new generation of robots that have to interact closely with humans. A wide variety of design solutions have recently been proposed, and a common factor in most of the VSAs is the introduction of a flexible transmission ...
Irene Sardellitti +4 more
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On the control of redundant robots with variable stiffness actuation
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012In this paper, the control of a redundant robotic manipulator with variable stiffness actuation is addressed. The problem of controlling simultaneously the end-effector position and stiffness exploiting the robot redundancy for the optimization of the robot configuration is considered, and the relation between the manipulator redundancy and the ...
PALLI, GIANLUCA, MELCHIORRI, CLAUDIO
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A mechatronic approach for robust stiffness estimation of variable stiffness actuators
2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2013This paper proposes a novel mechatronic approach for on-line robust estimation of both torque and stiffness of Variable Stiffness Actuators (VSA). The proposed solution is demonstrated robust with respect to uncertainties affecting both the dynamic parameters of the motor and to the efficiency of the motor gearbox.
Cirillo A +3 more
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2011 IEEE International Conference on Robotics and Automation, 2011
For tasks requiring robot-environment interaction, compliant motion is important to ensure stable contact and operational safety. The compliant actuators such as a series elastic actuator and a variable stiffness actuator (VSA) are expected to be one of the promising solutions to provide a compliant motion.
Byeong-Sang Kim, Jae-Bok Song
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For tasks requiring robot-environment interaction, compliant motion is important to ensure stable contact and operational safety. The compliant actuators such as a series elastic actuator and a variable stiffness actuator (VSA) are expected to be one of the promising solutions to provide a compliant motion.
Byeong-Sang Kim, Jae-Bok Song
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Design of a Variable Stiffness Actuator Based on Flexures
Journal of Mechanisms and Robotics, 2011Variable stiffness actuators can be used in order to achieve a suitable trade-off between performance and safety in robotic devices for physical human–robot interaction. With the aim of improving the compactness and the flexibility of existing mechanical solutions, a variable stiffness actuator based on the use of flexures is investigated. The proposed
PALLI, GIANLUCA +3 more
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Adaptive impedance control of a variable stiffness actuator
Advanced Robotics, 2015This paper proposes an optimal impedance control method for a variable stiffness actuator (VSA), in which a variable stiffness mechanism and an actuator are aligned in series. First, we introduce a circuit expression of the robotic system and provide a unified framework to determine an optimal index of robots driven by VSAs, irrespective of the ...
Ryuta Ozawa +2 more
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Design and Modelling of a Modular Variable Stiffness Actuator
2019 IEEE International Conference on Cyborg and Bionic Systems (CBS), 2019This paper presents the design and modeling of a modular variable stiffness joint intended for human-robot interaction. The functional concept is based on bidirectional antagonistic variable stiffness (BAVS) principle, in which elastic actuators are connected in parallel to output link, and an internal torque is generated by the antagonistic motion of ...
Jiale Liang +5 more
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Dynamic modelling and control of variable stiffness actuators
2010 IEEE International Conference on Robotics and Automation, 2010After briefly summarizing the mechanical design of the two joint prototypes for the new DLR variable compliance arm, the paper exemplifies the dynamic modelling of one of the prototypes and proposes a generic variable stiffness joint model for nonlinear control design.
Alin Albu-Schäffer +5 more
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