NDLI: Soft actuation in cyclic motions: Stiffness profile optimization for energy efficiency

Content Provider	IEEE Xplore Digital Library
Author	Velasco, A. Garabini, M. Catalano, M.G. Bicchi, A.
Copyright Year	2015
Description	Author affiliation: Centro Int. di Ricerca E. Piaggio, Univ. of Pisa, Pisa, Italy (Velasco, A.; Garabini, M.; Catalano, M.G.; Bicchi, A.)
Abstract	In this paper, we investigate the role of variable stiffness in the reduction of the energy cost for mechanical systems that perform desired tasks. The objective is to assess the use of Variable Stiffness Actuation (VSA) by determining an optimal stiffness profile and the associated energy cost of performing a desired task. For the analysis we consider mechanical systems of n-Degrees of Freedom (DoF), using VSA. We find an analytical solution that expresses the optimal stiffness profile during the task as a function of joint trajectories. This stiffness profile can be either constant or variable in time, and it minimizes a cost function, when performing a desired task. We calculate the cost related to the torque of the system and the additional cost of changing or keeping a stiffness actively constant. Additionally, we discuss some cases for which it is worth to change the stiffness during a task and cases for which a constant stiffness may be better solution. Furthermore, from simulations and experiments we show cases in which using a variable stiffness profile allows cost savings w.r.t. constant stiffness. The use of variable stiffness depends on the task, i.e. on the joint trajectories and their frequency, as well as on the mechanical implementation of the actuator used.
Starting Page	107
Ending Page	113
File Size	348133
Page Count	7
File Format	PDF
e-ISBN	9781479968855
DOI	10.1109/HUMANOIDS.2015.7363522
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-11-03
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Actuators Energy consumption Torque Mechanical systems Optimization
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Soft Actuation in Cyclic Motions: Stiffness Profile Optimization for Energy Efficiency

An energy consumption based control for humanoid walking

Biped gait generation based on parametric excitation by knee-joint actuation

Soft-actuators in cyclic motion: Analytical optimization of stiffness and pre-load

Optimal gaits and motions for legged robots

Coupled drive leg of quadrupedal robot mechanism design and analysis of energy consumption

Gait planning for energy efficiency in walking machines

Improving Energy Efficiency of Hopping Locomotion by Using a Variable Stiffness Actuator

Variable stiffness actuators: A port-based analysis and a comparison of energy efficiency

Soft actuation in cyclic motions: Stiffness profile optimization for energy efficiency

Similar Documents

Soft Actuation in Cyclic Motions: Stiffness Profile Optimization for Energy Efficiency

An energy consumption based control for humanoid walking

Biped gait generation based on parametric excitation by knee-joint actuation

Soft-actuators in cyclic motion: Analytical optimization of stiffness and pre-load

Optimal gaits and motions for legged robots

Coupled drive leg of quadrupedal robot mechanism design and analysis of energy consumption

Gait planning for energy efficiency in walking machines

Improving Energy Efficiency of Hopping Locomotion by Using a Variable Stiffness Actuator

Variable stiffness actuators: A port-based analysis and a comparison of energy efficiency

Soft actuation in cyclic motions: Stiffness profile optimization for energy efficiency