Torque-compensation for energy-efficient motion of robotic limbs in a stance
This paper addresses a new variable stiffness actuator (VSA) of a walking robot in a stance that can actively regulate a spring preload through correlation between spring reaction forces and joint variables. Here, VSA aims to realize energy-efficient stance motion of robotic limbs system from changi...
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| Published in | Journal of mechanical science and technology Vol. 32; no. 12; pp. 5907 - 5912 |
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| Main Authors | , , |
| Format | Journal Article |
| Language | English |
| Published |
Seoul
Korean Society of Mechanical Engineers
01.12.2018
Springer Nature B.V 대한기계학회 |
| Subjects | |
| Online Access | Get full text |
| ISSN | 1738-494X 1976-3824 |
| DOI | 10.1007/s12206-018-1141-5 |
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| Abstract | This paper addresses a new variable stiffness actuator (VSA) of a walking robot in a stance that can actively regulate a spring preload through correlation between spring reaction forces and joint variables. Here, VSA aims to realize energy-efficient stance motion of robotic limbs system from changing working conditions of a walking robot. Compared to conventional spring-loaded structures, it can effectively control both a spring stiffness and a spring-clamping configuration on humanoid’s lower body responding on uncertainties. ADAMS / MATLAB co-simulation system and experiments on the proposed VSA system as an active torque compensator are investigated for realizing energy-efficient motion in a robot’s stance. |
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| AbstractList | This paper addresses a new variable stiffness actuator (VSA) of a walking robot in a stance that can actively regulate a spring preload through correlation between spring reaction forces and joint variables. Here, VSA aims to realize energy-efficient stance motion of robotic limbs system from changing working conditions of a walking robot. Compared to conventional spring-loaded structures, it can effectively control both a spring stiffness and a spring-clamping configuration on humanoid’s lower body responding on uncertainties. ADAMS / MATLAB co-simulation system and experiments on the proposed VSA system as an active torque compensator are investigated for realizing energy-efficient motion in a robot’s stance. This paper addresses a new variable stiffness actuator (VSA) of a walking robot in a stance that can actively regulate a spring preload through correlation between spring reaction forces and joint variables. Here, VSA aims to realize energy-efficient stance motion of robotic limbs system from changing working conditions of a walking robot. Compared to conventional spring-loaded structures, it can effectively control both a spring stiffness and a spring-clamping configuration on humanoid’s lower body responding on uncertainties. ADAMS / MATLAB co-simulation system and experiments on the proposed VSA system as an active torque compensator are investigated for realizing energy-efficient motion in a robot’s stance. KCI Citation Count: 0 |
| Author | Lee, Sangryong Yi, Hak Yun, Junghwan |
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| Keywords | Variable stiffness Robotic limbs Energy-efficient motion Torque-compensation |
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| References | KnabeC.LeeB.OrekhovV.HongD.Design of acompact, lightweight, electromechanical linear series elastic actuator, Proceedings of the ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference201418 KimB. S.SongJ. B.Hybrid dual actuator unit: A design of a variable stiffness actuator based on an adjustable moment arm mechanism201016551660 NamK.KimB.SongJ.Compliant actuation of parallel–type variable stiffness actuator based on antagonistic actuationJournal of Mechanical Science and Technology201024112315232110.1007/s12206-010-0813-6 LahrD.YiH.HongD.Biologically inspired design of a parallel actuated humanoid robotAdvanced Robotics201630210911810.1080/01691864.2015.1094408 PaineN.SentisL.A new prismatic series elastic actuator with compact size and high performance201210.1109/ROBIO.2012.6491222 YooJ. H.HyunM. W.ChoiJ. H.KangS. C.KimS. J.Optimal design of a variable stiffness joint in a robot manipulator using the response surface methodJournal of Mechanical Science and Technology2009232236224310.1007/s12206-009-0516-z RobinsonD. W.PrattJ. E.PaluskaD. J.PrattG. A.Series elastic actuator development for a biomimetic walking robot, IEEE/ASME International Conference on Advanced Intelligent Mechatronics1999561568 PrattG. A.WilliamsonM. M.Series elastic actuators, IEEE/RSJ International Conference on Intelligent Robots and Systems, Pittsburg, Pennsylvani1995399406 AccotoD.CarpinoG.SergiF.TagliamonteN. L.ZolloL.GuglielmelliE.Design and characterization of a novel high–power series elastic actuator for a lower limb robotic orthosisInternational Journal of Advanced Robotic Systems2013101011210.5772/56927 ValleryH.VenemanJ.AsseldonkE. V.EkkelenkampR.BussM.KooijH. V. D.Compliant actuation of rehabilitation robots: Benefits and limitations of series elastic actuatorsIEEE Robotics & Automation Magazine2008153606910.1109/MRA.2008.927689 RouseE. J.MooneyL. M.HerrH. M.Clutchable series–elastic actuator: Implications for prosthetic knee designThe International Journal of Robotics Research2014331311510.1177/0278364914545673 VanderborghtB.Variable impedance actuators: A reviewRobotics and Autonomous Systems201361121601161410.1016/j.robot.2013.06.009 WolfS.Variable stiffness actuators: Review on design and componentsIEEE/ASME Transactions on Mechatronics20162152418243010.1109/TMECH.2015.2501019 N. Paine (1141_CR9) 2012 G. A. Pratt (1141_CR1) 1995 D. Lahr (1141_CR3) 2016; 30 S. Wolf (1141_CR10) 2016; 21 D. Accoto (1141_CR4) 2013; 10 E. J. Rouse (1141_CR7) 2014; 33 H. Vallery (1141_CR6) 2008; 15 K. Nam (1141_CR12) 2010; 24 D. W. Robinson (1141_CR2) 1999 C. Knabe (1141_CR8) 2014 B. Vanderborght (1141_CR13) 2013; 61 J. H. Yoo (1141_CR5) 2009; 23 B. S. Kim (1141_CR11) 2010 |
| References_xml | – reference: YooJ. H.HyunM. W.ChoiJ. H.KangS. C.KimS. J.Optimal design of a variable stiffness joint in a robot manipulator using the response surface methodJournal of Mechanical Science and Technology2009232236224310.1007/s12206-009-0516-z – reference: ValleryH.VenemanJ.AsseldonkE. V.EkkelenkampR.BussM.KooijH. V. D.Compliant actuation of rehabilitation robots: Benefits and limitations of series elastic actuatorsIEEE Robotics & Automation Magazine2008153606910.1109/MRA.2008.927689 – reference: AccotoD.CarpinoG.SergiF.TagliamonteN. L.ZolloL.GuglielmelliE.Design and characterization of a novel high–power series elastic actuator for a lower limb robotic orthosisInternational Journal of Advanced Robotic Systems2013101011210.5772/56927 – reference: RobinsonD. W.PrattJ. E.PaluskaD. J.PrattG. A.Series elastic actuator development for a biomimetic walking robot, IEEE/ASME International Conference on Advanced Intelligent Mechatronics1999561568 – reference: KnabeC.LeeB.OrekhovV.HongD.Design of acompact, lightweight, electromechanical linear series elastic actuator, Proceedings of the ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference201418 – reference: NamK.KimB.SongJ.Compliant actuation of parallel–type variable stiffness actuator based on antagonistic actuationJournal of Mechanical Science and Technology201024112315232110.1007/s12206-010-0813-6 – reference: VanderborghtB.Variable impedance actuators: A reviewRobotics and Autonomous Systems201361121601161410.1016/j.robot.2013.06.009 – reference: PaineN.SentisL.A new prismatic series elastic actuator with compact size and high performance201210.1109/ROBIO.2012.6491222 – reference: LahrD.YiH.HongD.Biologically inspired design of a parallel actuated humanoid robotAdvanced Robotics201630210911810.1080/01691864.2015.1094408 – reference: PrattG. A.WilliamsonM. M.Series elastic actuators, IEEE/RSJ International Conference on Intelligent Robots and Systems, Pittsburg, Pennsylvani1995399406 – reference: WolfS.Variable stiffness actuators: Review on design and componentsIEEE/ASME Transactions on Mechatronics20162152418243010.1109/TMECH.2015.2501019 – reference: KimB. S.SongJ. B.Hybrid dual actuator unit: A design of a variable stiffness actuator based on an adjustable moment arm mechanism201016551660 – reference: RouseE. J.MooneyL. M.HerrH. M.Clutchable series–elastic actuator: Implications for prosthetic knee designThe International Journal of Robotics Research2014331311510.1177/0278364914545673 – start-page: 1655 volume-title: Hybrid dual actuator unit: A design of a variable stiffness actuator based on an adjustable moment arm mechanism year: 2010 ident: 1141_CR11 – start-page: 1 volume-title: Design of acompact, lightweight, electromechanical linear series elastic actuator, Proceedings of the ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference year: 2014 ident: 1141_CR8 – volume: 21 start-page: 2418 issue: 5 year: 2016 ident: 1141_CR10 publication-title: IEEE/ASME Transactions on Mechatronics doi: 10.1109/TMECH.2015.2501019 – volume: 23 start-page: 2236 year: 2009 ident: 1141_CR5 publication-title: Journal of Mechanical Science and Technology doi: 10.1007/s12206-009-0516-z – start-page: 399 volume-title: Series elastic actuators, IEEE/RSJ International Conference on Intelligent Robots and Systems, Pittsburg, Pennsylvani year: 1995 ident: 1141_CR1 – volume: 10 start-page: 1 issue: 10 year: 2013 ident: 1141_CR4 publication-title: International Journal of Advanced Robotic Systems doi: 10.5772/56927 – volume: 15 start-page: 60 issue: 3 year: 2008 ident: 1141_CR6 publication-title: IEEE Robotics & Automation Magazine doi: 10.1109/MRA.2008.927689 – volume: 33 start-page: 1 issue: 13 year: 2014 ident: 1141_CR7 publication-title: The International Journal of Robotics Research doi: 10.1177/0278364914545673 – start-page: 561 volume-title: Series elastic actuator development for a biomimetic walking robot, IEEE/ASME International Conference on Advanced Intelligent Mechatronics year: 1999 ident: 1141_CR2 – volume: 30 start-page: 109 issue: 2 year: 2016 ident: 1141_CR3 publication-title: Advanced Robotics doi: 10.1080/01691864.2015.1094408 – volume-title: A new prismatic series elastic actuator with compact size and high performance year: 2012 ident: 1141_CR9 doi: 10.1109/ROBIO.2012.6491222 – volume: 24 start-page: 2315 issue: 11 year: 2010 ident: 1141_CR12 publication-title: Journal of Mechanical Science and Technology doi: 10.1007/s12206-010-0813-6 – volume: 61 start-page: 1601 issue: 12 year: 2013 ident: 1141_CR13 publication-title: Robotics and Autonomous Systems doi: 10.1016/j.robot.2013.06.009 |
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| SubjectTerms | Actuators Control Dynamical Systems Engineering Humanoid Industrial and Production Engineering Limbs Mechanical Engineering Robot dynamics Robots Stiffness Torque Vibration Walking 기계공학 |
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| Title | Torque-compensation for energy-efficient motion of robotic limbs in a stance |
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