Towards a robust variable stiffness actuator

Sebastian Wolf, Alin Albu-Schaffer

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Scopus citations

Abstract

Robots with Variable Stiffness Actuators (VSA) are intrinsically flexible in the joints. The built-in mechanical spring not only has the advantage of a higher peak performance, but also leads to a more robust robot. This paper presents and analyzes the threats to a VSA equipped robot that arise from external or internal origin. Influences of mechanical, moisture, electrical, thermal, radiation, and chemical nature are identified. Protection methods from these threats are discussed and the results presented. The results are separated into hardware, observation, control limiters, and reaction strategies. A hierarchical implementation of the control limiters and reaction strategies is presented. The reaction strategies use a motor position deviation and a change in the stiffness setup to reduce the load at high passive deflections in the VSA. Control limiter and reaction strategies have been implemented in the DLR Hand Arm System and evaluated experimentally with impacts on the system.

Original languageEnglish
Title of host publicationIROS 2013
Subtitle of host publicationNew Horizon, Conference Digest - 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages5410-5417
Number of pages8
DOIs
StatePublished - 2013
Externally publishedYes
Event2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013 - Tokyo, Japan
Duration: 3 Nov 20138 Nov 2013

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Country/TerritoryJapan
CityTokyo
Period3/11/138/11/13

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