Abstract
This paper addresses a new variable stiffness actuator (VSA) of a walking robot in a stance that can actively regulate a spring preload through correlation between spring reaction forces and joint variables. Here, VSA aims to realize energy-efficient stance motion of robotic limbs system from changing working conditions of a walking robot. Compared to conventional spring-loaded structures, it can effectively control both a spring stiffness and a spring-clamping configuration on humanoid’s lower body responding on uncertainties. ADAMS / MATLAB co-simulation system and experiments on the proposed VSA system as an active torque compensator are investigated for realizing energy-efficient motion in a robot’s stance.
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Recommended by Editor Ja Choon Koo
Junghwan Yun received his B.S. and M.S. degrees in the Department of Mechanical Engineering from Kyungpook National University, Korea in 2016 and 2018, repectively. His research interests are design and control of the robotic system.
Hak Yi received his B.S. (2005) and M.S.(2008) degrees in the Department of Mechanical Engineering from Chonbuk National University and Ph.D. at Texas A&M University (2012). His research interests are design and control of robotic system. Currently He is an Assistant Professor in the School of Mechanical Engineering at Kyungpook National University since 2016.
Sangryong Lee received his B.S. degree (1980) and M.S. degree (1982) from the Department of Mechanical Engineering at Seoul National University and at KAIST, respectively. He received his Ph.D. degree in the Department of Mechanical Engineering from Georgia Institute of Technology, U.S.A. in 1989. Currently, he is a Professor of the School of Mechanical Engineering at Kyungpook National University. His research interests are design and control of mobile robots, intelligent systems and automation.
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Yun, J., Yi, H. & Lee, S. Torque-compensation for energy-efficient motion of robotic limbs in a stance. J Mech Sci Technol 32, 5907–5912 (2018). https://doi.org/10.1007/s12206-018-1141-5
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DOI: https://doi.org/10.1007/s12206-018-1141-5