Modeling and Design of Energy Efficient Variable Stiffness Actuators


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VISSER L. C. , CARLONI R., Unal R. , STRAMIGIOLI S.

IEEE International Conference on Robotics and Automation (ICRA), Alaska, Amerika Birleşik Devletleri, 3 - 08 Mayıs 2010, ss.3273-3278 identifier identifier

  • Doi Numarası: 10.1109/robot.2010.5509349
  • Basıldığı Şehir: Alaska
  • Basıldığı Ülke: Amerika Birleşik Devletleri
  • Sayfa Sayısı: ss.3273-3278

Özet

In this paper, we provide a port-based mathematical framework for analyzing and modeling variable stiffness actuators. The framework provides important insights in the energy requirements and, therefore, it is an important tool for the design of energy efficient variable stiffness actuators. Based on new insights gained from this approach, a novel conceptual actuator is presented. Simulations show that the apparent output stiffness of this actuator can be dynamically changed in an energy efficient way.