Results 31 to 40 of about 4,568 (288)
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
openaire +2 more sources
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
openaire +3 more sources
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
doaj +1 more source
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
doaj +1 more source
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
doaj +1 more source
Shape memory alloy based 3D printed composite actuators withvariable stiffness and large reversible deformation [PDF]
, 2021 Soft composite actuators can be fabricated by embedding shape memory alloy (SMA) wires into soft poly- mer matrices. Shape retention and recovery of these actuators are typically achieved by incorporating shape memory polymer segments into the actuator ...
Ge, Qi +9 more
core +1 more source
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
doaj +1 more source
Mathematics, 2023 The study of position control for variable stiffness actuators is important for improving their energy efficiency and robustness. In this paper, for the previously proposed nonlinear variable stiffness actuator, firstly, a dynamic model of the variable ...
Zemin Yang +4 more
doaj +1 more source
Simultaneous Motion Tracking and Joint Stiffness Control of Bidirectional Antagonistic Variable-Stiffness Actuators [PDF]
, 2022 Since safe human-robot interaction is naturally linked to compliance in these robots, this requirement presents a challenge for the positioning accuracy.
Hoppner, Hannes; orcid: +5 more
core +2 more sources
Stiffness Control of Variable Serial Elastic Actuators: Energy Efficiency through Exploitation of Natural Dynamics [PDF]
, 2023 Variable elastic actuators are very promising for applications in physical human–robot interaction. Besides enabling human safety, such actuators can support energy efficiency, especially if the natural behavior of the system is exploited. In this paper,
Stuhlenmiller, Florian +2 more
core +1 more source