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Towards a Robust Variable Stiffness Actuator

Wolf, Sebastian and Albu-Schäffer, Alin (2013) Towards a Robust Variable Stiffness Actuator. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (ISSN: 1042-296X), pp. 5410-5417. Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, 3.-7. Nov. 2013, Tokyo, Japan. doi: 10.1109/iros.2013.6697139. ISSN 1042-296X.

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Robots with Variable Stiffness Actuators (VSA) are intrinsically flexible in the joints. The built-in mechanical spring not only has the advantage of a higher peak performance, but also leads to a more robust robot. This paper presents and analyzes the threats to a VSA equipped robot that arise from external or internal origin. Influences of mechanical, moisture, electrical, thermal, radiation, and chemical nature are identified. Protection methods from these threats are discussed and the results presented. The results are separated into hardware, observation, control limiters, and reaction strategies. A hierarchical implementation of the control limiters and reaction strategies is presented. The reaction strategies use a motor position deviation and a change in the stiffness setup to reduce the load at high passive deflections in the VSA. Control limiter and reaction strategies have been implemented in the DLR Hand Arm System and evaluated experimentally with impacts on the system.

Item URL in elib:https://elib.dlr.de/85475/
Document Type:Conference or Workshop Item (Speech)
Title:Towards a Robust Variable Stiffness Actuator
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Wolf, SebastianUNSPECIFIEDhttps://orcid.org/0000-0002-5711-5007UNSPECIFIED
Date:3 November 2013
Journal or Publication Title:IEEE/RSJ International Conference on Intelligent Robots and Systems (ISSN: 1042-296X)
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
Page Range:pp. 5410-5417
Series Name:Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Keywords:Variable Stiffness Actuators, VSA, robustness, reactions, reflexes, soft robotics, robot
Event Title:Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on
Event Location:Tokyo, Japan
Event Type:international Conference
Event Dates:3.-7. Nov. 2013
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 - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Components and Systems
Deposited By: Wolf, Dipl.-Ing. Sebastian
Deposited On:17 Dec 2013 12:50
Last Modified:24 Jul 2023 09:28

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