Results 21 to 30 of about 3,779 (258)
Constraint-based equilibrium and stiffness control of variable stiffness actuators [PDF]
2011 IEEE International Conference on Robotics and Automation, 2011 Considerable research effort has gone into the design of variable passive stiffness actuators (VSAs). A number of different mechanical designs have been proposed, aimed at either a biomorphic (i.e., antagonistic) design, compactness, or simplified modelling and control.
Matthew Howard 0001 +2 more
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Time-Energy Optimal Trajectory Planning for Variable Stiffness Actuated Robot
IEEE Access, 2019 A variable stiffness actuator is inspired by the human motor control and is the most popular actuator used to exploit the human performance and human-like motion.
Chen Ji, Minxiu Kong, Ruifeng Li
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A Stiffness Estimator for Agonistic–Antagonistic Variable-Stiffness-Actuator Devices [PDF]
IEEE Transactions on Robotics, 2014 Safe Physical Human Robot Interaction, conservation of energy and adaptability are just the main robotic applications that prompted the development of a number of Variable Stiffness Actuators (VSA). Implemented in a variety of ways, they use various technologies, and feature the most diverse mechanical solutions, all of which share a fundamentally ...
Tomas Menard +2 more
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Design of a New Nonlinear Stiffness Compliant Actuator and Its Error Compensation Method
Journal of Robotics, 2016 Compliant actuators are more advantageous than stiff actuators in some circumstances, for example, unstructured environment robots and rehabilitation robots. Compliant actuators are more adaptive and safe. Constant stiffness compliant actuators have some
Shaobin Lan, Zhibin Song
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Analysis of Variable-Stiffness Characteristics of Variable-Stiffness Elastic Actuator
, 2023 In order to improve the stiffness of the flexible robot,this paper proposes a variable-stiffness elastic actuator to improve the rigidity of flexible robots. The actuator integrates the working principles of a pneumatic drive, wedge structure, and particle blockage. the tensile stiffness of the actuator is nonlinearly negatively correlated with the air
He Peng, Xia Wang, Dexu Geng, Wenzhi Xu
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Stiffness Estimation and Nonlinear Control of Robots with Variable Stiffness Actuation [PDF]
IFAC Proceedings Volumes, 2011 Abstract We consider the problem of estimating on line the nonlinear stiffness of flexible transmissions in robots with variable stiffness actuation in agonistic-antagonistic configuration. Stiffness estimation is obtained using a dynamic residual that provides a filtered version of the unmeasured flexibility torques, combining it with a recursive ...
DE LUCA, Alessandro, FLACCO, FABRIZIO
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A Pneumatic Particle-Blocking Variable-Stiffness Actuator
Sensors, 2023 In order to improve the stiffness of flexible robots, this paper proposes a variable-stiffness elastic actuator. The actuator integrates the working principles of a pneumatic drive, wedge structure, and particle blockage. The anti-tensile stiffness of the actuator is nonlinearly negatively correlated with the air pressure because of the structural and ...
He Peng, Xia Wang, Dexu Geng, Wenzhi Xu
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Design and Dynamic Modeling of Variable Stiffness Joint Actuator Based on Archimedes Spiral
IEEE Access, 2018 Traditional rigid actuators are not applicable to robot applications involving explosive actions. Solutions suggested by previous studies have mainly focused on the concept of stiffness variation, its design and verification, and the explosive actions of
Wei Wang, Yanwei Zhao, Yangmin Li
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International Journal of Advanced Robotic Systems, 2020 In this article, a novel robust tracking control scheme based on linear extended state observer with estimation error compensation is proposed for the tracking control of the antagonistic variable stiffness actuator based on equivalent nonlinear torsion ...
Jishu Guo, Junmei Guo, Zhongjun Xiao
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Weight Lifting Trajectory Optimization for Variable Stiffness Actuated Robot
Complexity, 2019 Variable stiffness actuator is a new actuation of robot which is inspired by motor control of human arm. And it is promising way to exploit the human-like performance and human-like motion.
Chen Ji, Minxiu Kong, Ruifeng Li
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