Design Optimisation and Control of Compliant Actuation Arrangements in Articulated Robots for Improved Energy Efficiency
@article{Roozing2016DesignOA, title={Design Optimisation and Control of Compliant Actuation Arrangements in Articulated Robots for Improved Energy Efficiency}, author={Wesley Roozing and Zhibin Li and Darwin Gordon Caldwell and Nikolaos G. Tsagarakis}, journal={IEEE Robotics and Automation Letters}, year={2016}, volume={1}, pages={1110-1117} }
The development of energy efficient actuation represents one of the biggest challenges in robotics research today. This letter presents the generalisation of design and control concepts for a recently introduced asymmetric compliant actuator, as well as its extension to multi-DoF articulated robotic systems. The actuator design consists of two actuation branches with significantly different stiffness and energy storage capacity properties driving a single joint. The letter studies and presents…
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