Energy-aware redundant actuation for safe spring-assisted modular and reconfigurable robot

Abstract A spring-assisted modular and reconfigurable robot (SA-MRR) has been recently developed at our laboratory to reinforce its performance enable safe dexterous operation in human–robot environments. Multiple working mode (MWM) control enables each SA-MRR joint module switch independently between a primary actuation secondary, that may improve task-specific energy measures safety variety of manipulation tasks. The is characterized by synergy spring motor be summoned offset demands or safeguard set secondary limits. In this research work, two strategies are proposed, their characteristics have investigated for advantages while segregation collaboration tasks maintained. One MWM strategy designed limits able decrease consumption some Another efficiency was reduce per cycle $ \text{72}$ % simulated task maintaining spatial constraints. Numerical simulations demonstrated the effectiveness proposed energy-aware applications.