Embodying Desired Behavior in Variable Stiffness Actuators*

Autor: Antonio Bicchi, L. C. Visser, Stefano Stramigioli

Publikováno v: Proceedings of the 18th IFAC World Congress 2011, 9733-9738
STARTPAGE=9733;ENDPAGE=9738;TITLE=Proceedings of the 18th IFAC World Congress 2011

Variable stiffness actuators are a class of actuators with the capability of changing their apparent output stiffness independently from the actuator output position. This is achieved by introducing internally a number of compliant elements, and inte

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::ffca83a1925d63b36b400e35d044ad66
https://doi.org/10.3182/20110828-6-it-1002.02202

Towards a new generation of robots

Publikováno v: Mikroniek. 50(5):5-10

The concept of variable stiffness actuators is of relevance to emerging robotics applications. In particular, the intrinsic compliance of the actuator can ensure safe human-robot and robot-environment interaction, even in unexpected collisions. From

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=dris___00893::8de440089d2ccc7aa688dcb003c48be5
http://eprints.eemcs.utwente.nl/secure2/18690/01/05_10_variable_St_Actuator.pdf

A novel energy-efficient rotational variable stiffness actuator

Autor: Stefano Stramigioli, Shodhan Rao, Raffaella Carloni

Publikováno v: EMBC
Proceedings of the IEEE International Conference of Engineering in Medicine and Biology Society, EMBC 2011, 8175-8178
STARTPAGE=8175;ENDPAGE=8178;TITLE=Proceedings of the IEEE International Conference of Engineering in Medicine and Biology Society, EMBC 2011
Scopus-Elsevier

This paper presents the working principle, the design and realization of a novel rotational variable stiffness actuator, whose stiffness can be varied independently of its output angular position. This actuator is energy-efficient, meaning that the s

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::bef7608f6969eb28247534258c27a6b1
https://pubmed.ncbi.nlm.nih.gov/22256239

Human-like Walking with Compliant Legs

This work presents a novel approach to robotic bipedal walking. Based on the bipedal spring-mass model, which is known to closely describe human-like walking behavior, a robot has been designed that approaches the ideal model as closely as possible.

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=dris___00893::6155ea6328269fd7ad166241892dfe63

An Energy Efficient Knee Locking Mechanism for a Dynamically Walking Robot

Autor: van Oort, Gijs, Carloni, Raffaella, Borgerink, Dian J., Borgerink, Dian, Stramigioli, Stefano

Publikováno v: Proceedings of the IEEE International Conference on Robotics and Automation, ICRA 2011, 2003-2008
STARTPAGE=2003;ENDPAGE=2008;TITLE=Proceedings of the IEEE International Conference on Robotics and Automation, ICRA 2011
ICRA

In this work, we present the design and the implementation of an innovative knee locking mechanism for a dynamically walking robot. The mechanism consists of a four-bar linkage that realizes a mechanical singularity for locking the knee when the leg

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::99d2cac16151071ab6b5c6ab42656447
https://research.utwente.nl/en/publications/500b14a8-ef3f-4a04-ad42-7370aba3c9ac