A Stiffness Estimator for Agonistic–Antagonistic Variable-Stiffness-Actuator Devices
نویسندگان
چکیده
منابع مشابه
A Stiffness Estimator for Agonistic-Antagonistic Variable-Stiffness-Actuator Devices
Safe Physical Human Robot Interaction, conservation of energy and adaptability are just the main robotic applications that prompted the development of a number of Variable Stiffness Actuators (VSA). Implemented in a variety of ways, they use various technologies, and feature the most diverse mechanical solutions, all of which share a fundamentally unavoidable nonlinear behavior. The control sch...
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Variable Stiffness Actuators (VSAs) emerged as an alternative to conventional actuators in a variety of applications, such as walking robots and service robotics. New requirements, which were obviated in the design of rigid actuators, must be accounted for during the mechanical design of such new devices. Among them, we find the possibility of tunning the natural frequency of the mechanical sys...
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ژورنال
عنوان ژورنال: IEEE Transactions on Robotics
سال: 2014
ISSN: 1552-3098,1941-0468
DOI: 10.1109/tro.2014.2329998