Petit, Florian and Chalon, Maxime and Grebenstein, Markus and Albu-Schäffer, Alin and Hirzinger, Gerd (2010) Bidirectional antagonistic variable stiffness actuation: Analysis, design & Implementation. ICRA 2010, 3-7 Mai 2010, Anchorage, USA.
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Official URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5509267&isnumber=5509124
Abstract
The variable stiffness actuation concept is considered to provide a human-friendly robot technology. This paper examines a joint concept called the bidirectional antagonistic joint which is a extension of antagonistic joints. A new operating mode called the helping mode is introduced, which increases the joint load range. Although the joint can not be pretensioned in the helping mode, it is shown that a stiffness variation is possible, assuming a suitable torque-stiffness characteristic of the elastic elements. A methodology to design such characteristics is presented along with several example cases interpreted in a torque-stiffness plot. Furthermore, a stiffness adaptation control scheme which ensures mechanism safety is described. Finally, the design methodology and the control are evaluated on an implementation of a bidirectional antagonistic joint.
Item URL in elib: | https://elib.dlr.de/67976/ | ||||||||||||||||||
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Document Type: | Conference or Workshop Item (Speech, Paper) | ||||||||||||||||||
Title: | Bidirectional antagonistic variable stiffness actuation: Analysis, design & Implementation | ||||||||||||||||||
Authors: |
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Date: | May 2010 | ||||||||||||||||||
Open Access: | No | ||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||
In SCOPUS: | No | ||||||||||||||||||
In ISI Web of Science: | No | ||||||||||||||||||
Page Range: | pp. 4189-4196 | ||||||||||||||||||
Status: | Published | ||||||||||||||||||
Keywords: | Variable Stiffness Actuation, Robotics | ||||||||||||||||||
Event Title: | ICRA 2010 | ||||||||||||||||||
Event Location: | Anchorage, USA | ||||||||||||||||||
Event Type: | international Conference | ||||||||||||||||||
Event Dates: | 3-7 Mai 2010 | ||||||||||||||||||
HGF - Research field: | Aeronautics, Space and Transport (old) | ||||||||||||||||||
HGF - Program: | Space (old) | ||||||||||||||||||
HGF - Program Themes: | W SY - Technik für Raumfahrtsysteme | ||||||||||||||||||
DLR - Research area: | Space | ||||||||||||||||||
DLR - Program: | W SY - Technik für Raumfahrtsysteme | ||||||||||||||||||
DLR - Research theme (Project): | W - Leistungszentrum Robotik - Mechatronik und Telerobotik (old) | ||||||||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (until 2012) > Robotic Systems | ||||||||||||||||||
Deposited By: | Petit, Florian | ||||||||||||||||||
Deposited On: | 19 Dec 2012 11:09 | ||||||||||||||||||
Last Modified: | 19 Dec 2012 11:09 |
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