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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. ISSN 1042-296X

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Abstract

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
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Wolf, SebastianSebastian.Wolf (at) DLR.deUNSPECIFIED
Albu-Schäffer, AlinUNSPECIFIEDUNSPECIFIED
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 SCOPUS: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)
ISSN:1042-296X
Status:Published
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
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 - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik
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:09 Feb 2017 19:19

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