A Hybrid Dynamic-Regenerative Damping Scheme for Energy Regeneration in Variable Impedance Actuators

Fan Wu; Matthew Howard

doi:10.1109/ICRA.2018.8460207

A Hybrid Dynamic-Regenerative Damping Scheme for Energy Regeneration in Variable Impedance Actuators

Fan Wu
, Matthew Howard

King's College London

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

Increasing research efforts have been made to improve the energy efficiency of variable impedance actuators (VIAs) through reduction of energy consumption. However, the harvesting of dissipated energy in such systems remains under-explored. This study proposes a novel variable damping module design enabling energy regeneration in VIAs by exploiting the regenerative braking effect of DC motors. The proposed damping module uses four switches to combine regenerative and dynamic braking, in a hybrid approach that enables energy regeneration without reduction in the range of damping achievable. Numerical simulations and a physical experiment are presented in which the proposed module shows an optimal trade-off between task-performance and energy efficiency.

Original language	English
Title of host publication	2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4277-4282
Number of pages	6
ISBN (Electronic)	9781538630815
DOIs	https://doi.org/10.1109/ICRA.2018.8460207
State	Published - 10 Sep 2018
Externally published	Yes
Event	2018 IEEE International Conference on Robotics and Automation, ICRA 2018 - Brisbane, Australia Duration: 21 May 2018 → 25 May 2018

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

Conference

Conference	2018 IEEE International Conference on Robotics and Automation, ICRA 2018
Country/Territory	Australia
City	Brisbane
Period	21/05/18 → 25/05/18

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 7 Affordable and Clean Energy

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10.1109/ICRA.2018.8460207

Cite this

Wu, F., & Howard, M. (2018). A Hybrid Dynamic-Regenerative Damping Scheme for Energy Regeneration in Variable Impedance Actuators. In 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 (pp. 4277-4282). Article 8460207 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2018.8460207

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title = "A Hybrid Dynamic-Regenerative Damping Scheme for Energy Regeneration in Variable Impedance Actuators",

abstract = "Increasing research efforts have been made to improve the energy efficiency of variable impedance actuators (VIAs) through reduction of energy consumption. However, the harvesting of dissipated energy in such systems remains under-explored. This study proposes a novel variable damping module design enabling energy regeneration in VIAs by exploiting the regenerative braking effect of DC motors. The proposed damping module uses four switches to combine regenerative and dynamic braking, in a hybrid approach that enables energy regeneration without reduction in the range of damping achievable. Numerical simulations and a physical experiment are presented in which the proposed module shows an optimal trade-off between task-performance and energy efficiency.",

author = "Fan Wu and Matthew Howard",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 ; Conference date: 21-05-2018 Through 25-05-2018",

year = "2018",

month = sep,

day = "10",

doi = "10.1109/ICRA.2018.8460207",

language = "English",

series = "Proceedings - IEEE International Conference on Robotics and Automation",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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booktitle = "2018 IEEE International Conference on Robotics and Automation, ICRA 2018",

}

Wu, F & Howard, M 2018, A Hybrid Dynamic-Regenerative Damping Scheme for Energy Regeneration in Variable Impedance Actuators. in 2018 IEEE International Conference on Robotics and Automation, ICRA 2018., 8460207, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 4277-4282, 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia, 21/05/18. https://doi.org/10.1109/ICRA.2018.8460207

A Hybrid Dynamic-Regenerative Damping Scheme for Energy Regeneration in Variable Impedance Actuators. / Wu, Fan; Howard, Matthew.
2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 4277-4282 8460207 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - Howard, Matthew

PY - 2018/9/10

Y1 - 2018/9/10

N2 - Increasing research efforts have been made to improve the energy efficiency of variable impedance actuators (VIAs) through reduction of energy consumption. However, the harvesting of dissipated energy in such systems remains under-explored. This study proposes a novel variable damping module design enabling energy regeneration in VIAs by exploiting the regenerative braking effect of DC motors. The proposed damping module uses four switches to combine regenerative and dynamic braking, in a hybrid approach that enables energy regeneration without reduction in the range of damping achievable. Numerical simulations and a physical experiment are presented in which the proposed module shows an optimal trade-off between task-performance and energy efficiency.

AB - Increasing research efforts have been made to improve the energy efficiency of variable impedance actuators (VIAs) through reduction of energy consumption. However, the harvesting of dissipated energy in such systems remains under-explored. This study proposes a novel variable damping module design enabling energy regeneration in VIAs by exploiting the regenerative braking effect of DC motors. The proposed damping module uses four switches to combine regenerative and dynamic braking, in a hybrid approach that enables energy regeneration without reduction in the range of damping achievable. Numerical simulations and a physical experiment are presented in which the proposed module shows an optimal trade-off between task-performance and energy efficiency.

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U2 - 10.1109/ICRA.2018.8460207

DO - 10.1109/ICRA.2018.8460207

M3 - Conference contribution

AN - SCOPUS:85063161419

T3 - Proceedings - IEEE International Conference on Robotics and Automation

SP - 4277

EP - 4282

BT - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2018 IEEE International Conference on Robotics and Automation, ICRA 2018

Y2 - 21 May 2018 through 25 May 2018

ER -

Wu F, Howard M. A Hybrid Dynamic-Regenerative Damping Scheme for Energy Regeneration in Variable Impedance Actuators. In 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 4277-4282. 8460207. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2018.8460207

A Hybrid Dynamic-Regenerative Damping Scheme for Energy Regeneration in Variable Impedance Actuators

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