Variable Stiffness Actuators for Fast and Safe Motion Control

Bicchi, Antonio; Tonietti, G.; Bavaro, Michele; Piccigallo, M.

doi:10.1007/11008941_56

Cited by 74 publications

(57 citation statements)

References 10 publications

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“…The diameter of the braided sleeve will increase and, as a result, the diameter of the PMA rises by incrementing the air pressure, while the actuator length will decline to reach the maximum contraction ratio (ε). Equation (1) gives the contraction ratio expression:…”

Section: Operation Of the Pmamentioning

confidence: 99%

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Efficient Structure-Based Models for the McKibben Contraction Pneumatic Muscle Actuator: The Full Description of the Behaviour of the Contraction PMA

2017

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Abstract:To clarify the advantages of using soft robots in all aspects of life, the effective behaviour of the pneumatic muscle actuator (PMA) must be known. In this work, the performances of the PMA are explained and modelled with three formulas. The first formula describes the pulling force of the actuator based on the structure parameters; furthermore, the formula presented is the generalised contraction force for wholly-pneumatic muscle actuators. The second important model is the length formula, which is modified to our previous work to fit different actuator structures. Based on these two models, the stiffness of the actuator is formulated to illustrate its variability at different air pressure amounts. In addition, these formulas will make the selection of proper actuators for any robot arm structure easier using the knowledge gained from their performance. On the other hand, the desired behaviour of this type of actuator will be predefined and controlled.

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Section: Operation Of the Pmamentioning

confidence: 99%

“…On the other hand, the performance of the robot, including accuracy and rapidity, remains necessary as the task requirement [1]. Tonietti, et al [2] explain that the machines must be safe against all conceivable accidents whilst they interact with humans.…”

Section: Introductionmentioning

confidence: 99%

Efficient Structure-Based Models for the McKibben Contraction Pneumatic Muscle Actuator: The Full Description of the Behaviour of the Contraction PMA

2017

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“…For example, variable stiffness is useful for relatively high-performance, safe robot-human interaction [25]. While the robot is moving slowly, the arm can have very stiff joints for improved positional accuracy, and a collision will result in a relatively low impact force.…”

Section: Manipulationmentioning

confidence: 99%

The Actuator With Mechanically Adjustable Series Compliance

2010

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Running is a complex dynamic task which places strict requirements on both the physical components and software control systems of a robot. This report explores some of those requirements and in particular explores how a variable compliance actuation system can satisfy many of them. We present the mechanical design and software control of such an actuator system. We analyze its performance through simulation and benchtop experimental validation of a prototype version. In conclusion we demonstrate, through simulation, the application of our prototype actuator to the problem of biped running.I

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“…Now researchers are working on strategies to benefit from non-stiff actuation. Some researchers want to use it for a safe human-robot interaction (Bicchi et al 2003). This paper is devoted to reducing energy consumption by exploiting the natural dynamics of the system.…”

Section: Figmentioning

confidence: 99%

Development of a compliance controller to reduce energy consumption for bipedal robots

et al. 2008

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In this paper a strategy is proposed to combine active trajectory tracking for bipedal robots with exploiting the natural dynamics by simultaneously controlling the torque and stiffness of a compliant actuator. The goal of this research is to preserve the versatility of actively controlled humanoids, while reducing their energy consumption. The biped Lucy, powered by pleated pneumatic artificial muscles, has been built and controlled and is able to walk up to a speed of 0.15 m/s. The pressures inside the muscles are controlled by a joint trajectory tracking controller to track the desired joint trajectories calculated by a trajectory generator. However, the actuators are set to a fixed stiffness value. In this paper a compliance controller is presented to reduce the energy consumption by controlling the stiffness. A mathematical formulation has been developed to find an optimal stiffness setting depending on the desired trajectory and physical properties of the system and the proposed strategy has been validated on a pendulum structure powered by artificial muscles. This strategy has not been implemented on the real robot because the walking speed of the robot is currently too slow to benefit already from compliance control.

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Variable Stiffness Actuators for Fast and Safe Motion Control

Cited by 74 publications

References 10 publications

Efficient Structure-Based Models for the McKibben Contraction Pneumatic Muscle Actuator: The Full Description of the Behaviour of the Contraction PMA

Efficient Structure-Based Models for the McKibben Contraction Pneumatic Muscle Actuator: The Full Description of the Behaviour of the Contraction PMA

The Actuator With Mechanically Adjustable Series Compliance

Development of a compliance controller to reduce energy consumption for bipedal robots

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