elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

Bidirectional antagonistic variable stiffness actuation: Analysis, design & Implementation

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.

Full text not available from this repository.

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/
Document Type:Conference or Workshop Item (Speech, Paper)
Title:Bidirectional antagonistic variable stiffness actuation: Analysis, design & Implementation
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Petit, FlorianUNSPECIFIEDUNSPECIFIED
Chalon, MaximeUNSPECIFIEDUNSPECIFIED
Grebenstein, MarkusUNSPECIFIEDUNSPECIFIED
Albu-Schäffer, AlinUNSPECIFIEDUNSPECIFIED
Hirzinger, GerdUNSPECIFIEDUNSPECIFIED
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

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.