TY - GEN
T1 - Bidirectional antagonistic variable stiffness actuation
T2 - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
AU - Petit, Florian
AU - Chalon, Maxime
AU - Friedl, Werner
AU - Grebenstein, Markus
AU - Albu-Schäffer, Alin
AU - Hirzinger, Gerd
PY - 2010
Y1 - 2010
N2 - The variable stiffness actuation concept is considered to provide a human-friendly robot technology. This paper examines a joint concept called the bidirectional antagonistic joint which is a extension of antagonistic joints. A new operating mode called the helping mode is introduced, which increases the joint load range. Although the joint can not be pretensioned in the helping mode, it is shown that a stiffness variation is possible, assuming a suitable torque-stiffness characteristic of the elastic elements. A methodology to design such characteristics is presented along with several example cases interpreted in a torque-stiffness plot. Furthermore, a stiffness adaptation control scheme which ensures mechanism safety is described. Finally, the design methodology and the control are evaluated on an implementation of a bidirectional antagonistic joint.
AB - The variable stiffness actuation concept is considered to provide a human-friendly robot technology. This paper examines a joint concept called the bidirectional antagonistic joint which is a extension of antagonistic joints. A new operating mode called the helping mode is introduced, which increases the joint load range. Although the joint can not be pretensioned in the helping mode, it is shown that a stiffness variation is possible, assuming a suitable torque-stiffness characteristic of the elastic elements. A methodology to design such characteristics is presented along with several example cases interpreted in a torque-stiffness plot. Furthermore, a stiffness adaptation control scheme which ensures mechanism safety is described. Finally, the design methodology and the control are evaluated on an implementation of a bidirectional antagonistic joint.
UR - http://www.scopus.com/inward/record.url?scp=77955828914&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2010.5509267
DO - 10.1109/ROBOT.2010.5509267
M3 - Conference contribution
AN - SCOPUS:77955828914
SN - 9781424450381
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4189
EP - 4196
BT - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Y2 - 3 May 2010 through 7 May 2010
ER -