• DOI:10.1109/LRA.2016.2521926
Corpus ID: 1940410

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={W. Roozing and Z. Li and D. Caldwell and N. Tsagarakis},
  journal={IEEE Robotics and Automation Letters},
  year={2016},
  volume={1},
  pages={1110-1117}
}

• W. Roozing, Z. Li, +1 author N. Tsagarakis
• Published 2016
• Engineering, Computer Science
• IEEE Robotics and Automation Letters

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… Expand

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