Double actuation architectures for rendering variable impedance in compliant robots: A review

Tagliamonte, Nevio Luigi; Sergi, Fabrizio; Accoto, Dino; Carpino, Giorgio; Guglielmelli, Eugenio

doi:10.1016/j.mechatronics.2012.09.011

Cited by 101 publications

(71 citation statements)

References 90 publications

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“…Tagliamonte et al [21] attempted to numerically compare the performance of a double actuated VIA with the concept of "power/mass" or "power/volume" depending on the position of the spring. Robinson et al [26] proposed a criteria of the Large Rorque Bandwidth (LTB) that can evaluate the performance under the large force command by using simple model of force-controlled SEA.…”

Section: Assessment Criteria and Comparison Of Seasmentioning

confidence: 99%

Generalization of Series Elastic Actuator Configurations and Dynamic Behavior Comparison

Lee

Kwak

et al. 2017

Actuators

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Abstract:The Series Elastic Actuator (SEA) has recently been developed by many research groups and applied in various fields. As SEA is the combination of motor, spring, gear and load, various types and configurations of mechanism have been developed as SEAs to satisfy many requirements necessary for the applications. This paper provides a theoretical framework to categorize and compare these various configurations of SEAs. The general structure and model of SEA is provided, and SEA configurations are categorized into Force-sensing Series Elastic Actuator, Reaction Force-sensing Series Elastic Actuator and Transmitted Force-sensing Series Elastic Actuator, based on the relative location of the spring. Criteria such as Force sensitivity, Compliance and Transmissibility of SEA are derived and compared using actual SEAs that have been developed previously.

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Section: Assessment Criteria and Comparison Of Seasmentioning

confidence: 99%

Generalization of Series Elastic Actuator Configurations and Dynamic Behavior Comparison

Lee

Kwak

et al. 2017

Actuators

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“…Mechanizm analogiczny do układu biologicznego przedstawiono na rys. 7c (M1, M2 -silniki) [2,3,13]. Aby zmiana napięcia sprężyn skutkowała zmianą podatności, sprężyny muszą być nieliniowe [2,3].…”

Section: Stawy Z Elementem Podatnym ǔ ʁƭƿˁǚřƌǖŭ ɡɂƞřǜȭɂʋƌǔ ɡʁ˘ƭ˘ ʊǜƭʁunclassified

Classification of Variable Stiffness Actuators - part 1

Kozakiewicz¹,

Winiarski²

2017

PAR

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ŎƬ˘˹ŘǚŘ ʊǔǄ ȭŘ ǘɁʁ˘˿ʊǜŘȭǔƬ ˘ Řʁǜ˿ǘˁȦˁ ȭŘ ˹ŘʁˁȭǘŘƋǒ ǚǔƋƬȭƋǖǔ ,ʁƬŘǜǔ˸Ƭ ,ɁȧȧɁȭʊ Ę˘ȭŘȭǔƬ ŘˁǜɁʁʊǜ˹Ř ʯƖ1 . WprowadzenieWiększość aktualnie stosowanych manipulatorów stanowią mechanizmy sztywne, sterowane pozycyjnie. Tego typu układy zapewniają dużą precyzję ruchów, ale stanowią znaczne zagrożenie dla wszelkich obiektów, które nieoczekiwanie znajdą się w przestrzeni roboczej robota -w szczególności dla ludzi.Niebezpieczeństwo to można zmniejszyć przez wprowadzenie podatności do przegubów robota. Zabieg ten nie tylko redukuje skutki zderzenia z przeszkodą (korzystnie wpływając na możliwość bezpośredniej współpracy robota z człowiekiem), ale pozwala również magazynować energię.Możliwość płynnej regulacji podatności, w połączeniu z odpowiednim algorytmem sterowania, może przynieść szereg innych wymiernych korzyści -począwszy od zmniejszenia zużycia energii w trakcie powtarzalnych czynności manipulatora przemysłowego, a skończywszy na płynnym chodzie w przypadku robotów kroczących [1].

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“…This new design principle arises from the requirement to have new robotic systems able to operate reliably in unstructured environments, where robots with rigid structure are becoming a limitation for envisioned tasks or applications such as in human-robot interaction [13]. To face this problem different approaches have been proposed from impedance control of stiff actuators like the DLR-LWR [14] to several mechanical architectures to adjust the transmission rigidity [15] and improve safety interaction [16]. Nevertheless some drawbacks are starting to emerge because relying on feedback in artificial agents (such as humanoid robots) might not be a practical strategy specifically considering the growing amount of sensors (e.g., distributed force/torque sensors [17],whole-body distributed tactile sensors [18], gyros and accelerometers [19]) which are currently available and have to be acquired and centrally processed to perform complex actions.…”

Section: Introductionmentioning

confidence: 99%

Stiction Compensation in Agonist-Antagonist Variable Stiffness Actuators

Fiorio

Romanò

Parmiggiani

et al. 2014

Robotics: Science and Systems X

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Abstract-In the last decade new actuator designs have been presented trying to introduce at mechanical level the advantages of compliance. Ranging from serial elastic actuators to different designs of variable stiffness actuators, various prototypes have been proposed and implemented on robots, thus allowing performance of novel and challenging tasks. Nevertheless some of these new devices often are affected by the drawbacks related to friction. In particular, static friction due to its discontinuous nature, can produce undesired behaviors that are rather difficult to compensate.In this paper we present a novel kind of passive variable stiffness actuator based on agonist-antagonist configuration. The specific design we adopted improves the capability of the system in mechanically compensating the external disturbances, but on the other hand intensifies the effect of stiction during the cocontraction of the agonist and antagonist side of the actuator. The consequence is the appearance of a set of neutral equilibrium configurations of the output joint that we named "dead-band". This issue is tackled analytically investigating the propagation and the distribution of the stiction components within the whole system. The result is a condition over the spring potential energies that is exploited to properly design the new non-linear springs. Eventually experimental tests are conducted on the real actuator, showing the effectiveness of our analytical approach.

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Double actuation architectures for rendering variable impedance in compliant robots: A review

Cited by 101 publications

References 90 publications

Generalization of Series Elastic Actuator Configurations and Dynamic Behavior Comparison

Generalization of Series Elastic Actuator Configurations and Dynamic Behavior Comparison

Classification of Variable Stiffness Actuators - part 1

Stiction Compensation in Agonist-Antagonist Variable Stiffness Actuators

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