Name
Title | ||
|---|---|---|
Variable stiffness actuators: A port-based analysis and a comparison of energy efficiency |
Abstract | ||
|---|---|---|
In this paper, a metric for comparing different designs of variable stiffness actuators is introduced. For the formulation of this metric, we focus on the energy efficiency of the actuators. In particular, we propose a metric that is a measure of how much energy is used by the actuator for changing the output stiffness. In order to facilitate the analysis of the energy usage, we present a port-based modeling framework, from which design criteria are derived for the optimization of the metric. Finally, the metric is interpreted in a comparison between existing actuators. |
Year | DOI | Venue |
|---|---|---|
2010 | 10.1109/ROBOT.2010.5509127 | Robotics and Automation |
Keywords | Field | DocType |
actuators,energy conservation,optimisation,actuator energy efficiency,metric optimization,port-based modeling framework,variable stiffness actuators | Energy conservation,Torque,Efficient energy use,Control theory,Stiffness,Mechanical engineering,Control engineering,Engineering,Pulley,Actuator | Conference |
Volume | Issue | ISSN |
2010 | 1 | 1050-4729 E-ISBN : 978-1-4244-5040-4 |
ISBN | Citations | PageRank |
978-1-4244-5040-4 | 11 | 1.10 |
References | Authors | |
6 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Ludo C. Visser | 1 | 120 | 10.41 |
| Raffaella Carloni | 2 | 40 | 7.63 |
| Stefano Stramigioli | 3 | 863 | 111.80 |