Variable Impedance Actuators: Moving the Robots of Tomorrow

Vanderborght, B. and Albu-Schäffer, Alin Olimpiu and Bicchi, Antonio and Burdet, Etienne and Caldwell, D. and Carloni, R. and Ganesh, G. and Garabini, M. and Grebenstein, Markus and Grioli, G. and Haddadin, Sami and Jafari, A. and Laffranchi, M. and Lefeber, D. and Petit, F. and Stramigioli, S. and Tsagarakis, N. and Van Damme, M. and Van Ham, R. and Wolf, Sebastian and Catalano, M. and Visser, L.C. (2012) Variable Impedance Actuators: Moving the Robots of Tomorrow. In: International Conference on Intelligent Robots and Systems (IROS), pp. 5454-5455. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012-10-07 - 2012-10-12, Vilamoura, Algarve, Portugal. doi: 10.1109/iros.2012.6385433. ISBN 978-1-4673-1737-5. ISSN 2153-0858.

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Abstract

Most of today's robots have rigid structures and actuators requiring complex software control algorithms and sophisticated sensor systems in order to behave in a compliant and safe way adapted to contact with unknown environments and humans. By studying and constructing variable impedance actuators and their control, we contribute to the development of actuation units which can match the intrinsic safety, motion performance and energy efficiency of biological systems and in particular the human. As such, this may lead to a new generation of robots that can co-exist and co-operate with people and get closer to the human manipulation and locomotion performance than is possible with current robots.

Item URL in elib:

https://elib.dlr.de/80680/

Document Type:

Conference or Workshop Item (Other)

Title:

Variable Impedance Actuators: Moving the Robots of Tomorrow

Authors:

Authors	Institution or Email of Authors	Author's ORCID iD	ORCID Put Code
Vanderborght, B.	Vrije Universiteit Brussel, Belgium	UNSPECIFIED	UNSPECIFIED
Albu-Schäffer, Alin Olimpiu	UNSPECIFIED	https://orcid.org/0000-0001-5343-9074	UNSPECIFIED
Bicchi, Antonio	Interdepartmental Research Center “E. Piaggio”, Faculty of Engineering, University of Pisa	UNSPECIFIED	UNSPECIFIED
Burdet, Etienne	Department of Bioengineering, Imperial College London	UNSPECIFIED	UNSPECIFIED
Caldwell, D.	Istituto Italiano di Tecnologia, Italy	UNSPECIFIED	UNSPECIFIED
Carloni, R.	University of Twente, Netherlands	UNSPECIFIED	UNSPECIFIED
Ganesh, G.	Imperial College London, United Kingdom	UNSPECIFIED	UNSPECIFIED
Garabini, M.	University of Pisa, Italy	UNSPECIFIED	UNSPECIFIED
Grebenstein, Markus	UNSPECIFIED	https://orcid.org/0000-0002-4026-3716	UNSPECIFIED
Grioli, G.	University of Pisa, Italy	UNSPECIFIED	UNSPECIFIED
Haddadin, Sami	UNSPECIFIED	UNSPECIFIED	UNSPECIFIED
Jafari, A.	Istituto Italiano di Tecnologia, Italy	UNSPECIFIED	UNSPECIFIED
Laffranchi, M.	Istituto Italiano di Tecnologia, Italy	UNSPECIFIED	UNSPECIFIED
Lefeber, D.	Vrije Universiteit Brussel, Belgium	UNSPECIFIED	UNSPECIFIED
Petit, F.	Robotics and Mechatronics Center,DLR	UNSPECIFIED	UNSPECIFIED
Stramigioli, S.	University of Twente, Netherlands	UNSPECIFIED	UNSPECIFIED
Tsagarakis, N.	Istituto Italiano di Tecnologia, Italy	UNSPECIFIED	UNSPECIFIED
Van Damme, M.	Vrije Universiteit Brussel, Belgium	UNSPECIFIED	UNSPECIFIED
Van Ham, R.	Vrije Universiteit Brussel, Belgium	UNSPECIFIED	UNSPECIFIED
Wolf, Sebastian	UNSPECIFIED	https://orcid.org/0000-0002-5711-5007	UNSPECIFIED
Catalano, M.	University of Pisa, Italy; Istituto Italiano di Tecnologia, Italy	UNSPECIFIED	UNSPECIFIED
Visser, L.C.	University of Twente, Netherlands	UNSPECIFIED	UNSPECIFIED

Date:

October 2012

Journal or Publication Title:

International Conference on Intelligent Robots and Systems (IROS)

Refereed publication:

Yes

Open Access:

Yes

Gold Open Access:

In SCOPUS:

In ISI Web of Science:

DOI:

10.1109/iros.2012.6385433

Page Range:

pp. 5454-5455

ISSN:

2153-0858

ISBN:

978-1-4673-1737-5

Status:

Published

Keywords:

Actuators , Dynamics , Humans , Impedance , Muscles , Pneumatic systems , Robots

Event Title:

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

Event Location:

Vilamoura, Algarve, Portugal

Event Type:

international Conference

Event Start Date:

7 October 2012

Event End Date:

12 October 2012

Organizer:

IEEE/RSJ

HGF - Research field:

Aeronautics, Space and Transport

HGF - Program:

Space

HGF - Program Themes:

Space System Technology

DLR - Research area:

Raumfahrt

DLR - Program:

R SY - Space System Technology

DLR - Research theme (Project):

R - RMC - Mechatronik und Telerobotik (old)

Location:

Oberpfaffenhofen

Institutes and Institutions:

Institute of Robotics and Mechatronics (until 2012)

Deposited By:

Parusel, Sven

Deposited On:

15 Jan 2013 15:52

Last Modified:

29 Jan 2026 19:10

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