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Variable Impedance Actuators: Moving the Robots of Tomorrow

Vanderborght, B. and Albu-Schäffer, Alin 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, 7-12 Oct 2012, Vilamoura, Algarve, Portugal. 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:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Vanderborght, B. Vrije Universiteit Brussel, BelgiumUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.deUNSPECIFIED
Bicchi, AntonioInterdepartmental Research Center “E. Piaggio”, Faculty of Engineering, University of PisaUNSPECIFIED
Burdet, EtienneDepartment of Bioengineering, Imperial College LondonUNSPECIFIED
Caldwell, D. Istituto Italiano di Tecnologia, ItalyUNSPECIFIED
Carloni, R.University of Twente, NetherlandsUNSPECIFIED
Ganesh, G.Imperial College London, United KingdomUNSPECIFIED
Garabini, M.University of Pisa, ItalyUNSPECIFIED
Grebenstein, Markus Markus.Grebenstein (at) dlr.deUNSPECIFIED
Grioli, G.University of Pisa, ItalyUNSPECIFIED
Haddadin, SamiSami.Haddadin (at) DLR.deUNSPECIFIED
Jafari, A.Istituto Italiano di Tecnologia, ItalyUNSPECIFIED
Laffranchi, M.Istituto Italiano di Tecnologia, ItalyUNSPECIFIED
Lefeber, D.Vrije Universiteit Brussel, BelgiumUNSPECIFIED
Petit, F.Robotics and Mechatronics Center,DLRUNSPECIFIED
Stramigioli, S.University of Twente, NetherlandsUNSPECIFIED
Tsagarakis, N.Istituto Italiano di Tecnologia, ItalyUNSPECIFIED
Van Damme, M.Vrije Universiteit Brussel, BelgiumUNSPECIFIED
Van Ham, R.Vrije Universiteit Brussel, BelgiumUNSPECIFIED
Wolf, SebastianSebastian.Wolf (at) DLR.deUNSPECIFIED
Catalano, M.University of Pisa, Italy; Istituto Italiano di Tecnologia, ItalyUNSPECIFIED
Visser, L.C.University of Twente, NetherlandsUNSPECIFIED
Date:October 2012
Journal or Publication Title:International Conference on Intelligent Robots and Systems (IROS)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
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 Dates:7-12 Oct 2012
Organizer:IEEE/RSJ
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
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:31 Jul 2019 19:39

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