Modeling and design of energy efficient variable stiffness actuators

L. C. Visser, R. Carloni, R. Ünal, S. Stramigioli

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

35 Citations (Scopus)

Abstract

In this paper, we provide a port-based mathematical framework for analyzing and modeling variable stiffness actuators. The framework provides important insights in the energy requirements and, therefore, it is an important tool for the design of energy efficient variable stiffness actuators. Based on new insights gained from this approach, a novel conceptual actuator is presented. Simulations show that the apparent output stiffness of this actuator can be dynamically changed in an energy efficient way.

Original languageEnglish
Title of host publication2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Pages3273-3278
Number of pages6
DOIs
Publication statusPublished - 2010
Externally publishedYes
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
Duration: 3-May-20107-May-2010

Conference

Conference2010 IEEE International Conference on Robotics and Automation, ICRA 2010
CountryUnited States
CityAnchorage, AK
Period03/05/201007/05/2010

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