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Conceptual Design of a Variable Stiffness Mechanism in a Humanoid Ankle Using Parallel Redundant Actuation
Stoeffler, C.; Kumar, S.; Peters, H. et al.
2019In IEEE-RAS International Conference on Humanoid Robots, 2018-November, p. 462-468
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Abstract :
[en] Future robots will rely more than today on high precision, better energy efficiency and safe handling (e.g. human-machine interaction). An inevitable step in the development of new robots is therefore the improvement of existing mechanisms, since better sensors and algorithms do not satisfy the demands alone. During the last three decades, Parallel Redundant Mechanisms (PRM) came more into the focus of research, as they are advantageous in terms of singularity avoidance, fast movements and energy efficiency. Subsequently, yet another technology - the Variable Impedance Actuator (VIA) - emerged which proposes to change its inherent stiffness allowing an adaptation to its environment and to handle for example dynamic movements or shock absorptions. This work aims to create a new mechanism where a stiffness and position control for 2 degrees of freedom (DOF) is achieved by 3 actuators with flexible elements. It is thus a combination of the PRM and VIA, while taking advantage of both technologies but asking for a more sophisticated mathematical description. Practical implementation is intended for a humanoid ankle mechanism. Kinetostatic and stiffness models are derived and incorporated into the simulation of the mechanism. The simulations show that improvements in terms of singularity removal and dexterity are achieved. Furthermore, the adaptation of human like gait performances is presented. © 2018 IEEE.
Disciplines :
Mechanical engineering
Author, co-author :
Stoeffler, C.;  German Research Center for Artificial Intelligence GmbH - Robotics Innovation Center (DFKI Bremen), Robert-Hooke Str. 1, Bremen, 28359, Germany
Kumar, S.;  German Research Center for Artificial Intelligence GmbH - Robotics Innovation Center (DFKI Bremen), Robert-Hooke Str. 1, Bremen, 28359, Germany
Peters, H.;  German Research Center for Artificial Intelligence GmbH - Robotics Innovation Center (DFKI Bremen), Robert-Hooke Str. 1, Bremen, 28359, Germany
Bruls, Olivier  ;  Université de Liège - ULiège > Département d'aérospatiale et mécanique > Laboratoire des Systèmes Multicorps et Mécatroniques
Muller, Andreas
Kirchner, F.;  German Research Center for Artificial Intelligence GmbH - Robotics Innovation Center (DFKI Bremen), Robert-Hooke Str. 1, Bremen, 28359, Germany
Language :
English
Title :
Conceptual Design of a Variable Stiffness Mechanism in a Humanoid Ankle Using Parallel Redundant Actuation
Publication date :
January 2019
Event name :
18th IEEE-RAS International Conference on Humanoid Robots
Event date :
Novembre 2018
By request :
Yes
Audience :
International
Journal title :
IEEE-RAS International Conference on Humanoid Robots
ISSN :
2164-0572
Publisher :
IEEE Computer Society
Volume :
2018-November
Pages :
462-468
Peer reviewed :
Peer reviewed
Commentary :
9781538672839
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since 08 April 2019

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