Damping control of variable damping compliant actuators

Kashiri, Navvab; Medrano-Cerda, Gustavo A.; Tsagarakis, Nikos G.; Laffranchi, Matteo; Caldwell, Darwin G.

doi:10.1109/icra.2015.7139277

Cited by 14 publications

(3 citation statements)

References 33 publications

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“…The former escalates the development and maintenance costs, and the latter reduces the energy efficiency. Moreover, semi-active solutions require additional controllers that intensify the complexity of the system, e.g., see works by Kashiri et al ( 2014a ), Kashiri et al ( 2015 ), and Kashiri et al ( 2016 ). As a result, despite the proven energy consumption reduction achieved by such systems, the utilization of variable impedance solutions, when considering the additional hardware/software complexity, requires careful attention to the application requirements.…”

Section: Compliant Actuationmentioning

confidence: 99%

An Overview on Principles for Energy Efficient Robot Locomotion

et al. 2018

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Despite enhancements in the development of robotic systems, the energy economy of today's robots lags far behind that of biological systems. This is in particular critical for untethered legged robot locomotion. To elucidate the current stage of energy efficiency in legged robotic systems, this paper provides an overview on recent advancements in development of such platforms. The covered different perspectives include actuation, leg structure, control and locomotion principles. We review various robotic actuators exploiting compliance in series and in parallel with the drive-train to permit energy recycling during locomotion. We discuss the importance of limb segmentation under efficiency aspects and with respect to design, dynamics analysis and control of legged robots. This paper also reviews a number of control approaches allowing for energy efficient locomotion of robots by exploiting the natural dynamics of the system, and by utilizing optimal control approaches targeting locomotion expenditure. To this end, a set of locomotion principles elaborating on models for energetics, dynamics, and of the systems is studied.

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Section: Compliant Actuationmentioning

confidence: 99%

An Overview on Principles for Energy Efficient Robot Locomotion

et al. 2018

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“…Examples of devices designed with it are [5], [26], [44], [55], [61], [63], [64], [79], [86], [87], [89], [92], [101], and [102].…”

Section: The Seawepdmentioning

confidence: 99%

Damping in Compliant Actuation: A Review

Monteleone

Negrello

Catalano

et al. 2022

IEEE Robot. Automat. Mag.

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This article has been accepted for inclusion in a future issue of this journal. Content is final as presented, with the exception of pagination.C ompliant actuator technology aims at building robots capable of physically interacting with humans and the environment, matching the versatility and capacity of biological systems. Recently, it underwent a significant evolution with the introduction of damping to improve performance. Such development reflects several aspects, including energy saving and oscillation mitigation. However, large damping values tend to increase the system impedance, worsening robot resilience and human safety during impacts. That suggests the importance of a correct tradeoff.This article reviews the application of damping solutions to compliant actuation. We classify damper systems based on the amount of active control, their physical operation principle, and the topological position of the damping element used in the various actuators. Then we study the fields of application of these devices and analyze how different design aspects correlate with one another and applications. This analysis yields insight into how design choices can influence the characteristics of actuators and the robots using them, from the viewpoint of robot resilience, human safety, power consumption, and energy storage. Finally, we provide an annotated database of the papers considered to conduct this review. OverviewThe field of compliant robotic actuation has been growing [1],[2], motivated by the intention of building robots able to cope with unknown environments [3], behave safely in humanrobot interaction [4], tolerate shocks [5], store energy [6], [7], and move agilely on legs [8]- [10]. Nevertheless, when compared to rigid equivalent robots, compliant actuation underperforms in some domains. Among other aspects, reduced control authority bandwidth can lead to undesired oscillations and vibrations [11], which can, in turn, reduce precision, compromise stability, and waste energy. Through the years, it became clear that to mitigate such limitations [12], which can jeopardize the very advantage of using compliant actuation in the first place, the inclusion of some form of damping action [13] is mandatory.

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“…These actuators work within a specific area to avoid human interaction, which can be dangerous because of their limited safety performance and, in turn, sets important limitations related to the safety and efficiency of these actuators or traditional stiff robots and their ability to interact with the environment. The introduction of physical compliance within a robot's structure is a new and widely used trend in modern industry [6]. This approach has been used because of the incompatibility of the classical stiff and heavy manipulators with high-gain controllers for operation near the physical human interaction with the surrounding environment.…”

Section: Introductionmentioning

confidence: 99%

Variable Damping Actuator Using an Electromagnetic Brake for Impedance Modulation in Physical Human–Robot Interaction

Ullah,

Chaichaowarat,

Wannasuphoprasit

2023

Robotics

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Compliance actuation systems are efficient and safe, drawing attention to their development. However, compliance has caused bandwidth loss, instability, and mechanical vibration in robotic systems. Variable physical damping was introduced to address these issues. This paper presents a technique for obtaining variable damping properties using an electromagnetic brake. The relationship mapping of the voltage and the braking torque is studied and applied to the variable damping concept. A new model is proposed to demonstrate the actuation system performance gained by introducing physical damping. The experimental setup comprises an electromagnetic brake and a motor with an integrated controller for speed control and torque feedback. The motor provides the motion, while the electromagnetic brake replicates the damping through a friction mechanism. The variable damping concept was evaluated experimentally using a 1-degree-of-freedom rotational system. Experimental results show that the proposed concept can generate the desired mechanical damping with a high degree of fidelity.

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Damping control of variable damping compliant actuators

Cited by 14 publications

References 33 publications

An Overview on Principles for Energy Efficient Robot Locomotion

An Overview on Principles for Energy Efficient Robot Locomotion

Damping in Compliant Actuation: A Review

Variable Damping Actuator Using an Electromagnetic Brake for Impedance Modulation in Physical Human–Robot Interaction

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