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Titel:

Energy Regenerative Damping in Variable Impedance Actuators for Long-Term Robotic Deployment

Dokumenttyp:
Zeitschriftenaufsatz
Autor(en):
Wu, F.; Howard, M.
Abstract:
Energy efficiency is a crucial issue towards long-term deployment of compliant robots in the real world. In the context of variable impedance actuators (VIAs), one of the main focuses has been on improving energy efficiency through reduction of energy consumption. However, the harvesting of dissipated energy in such systems remains under-explored. This study proposes a variable damping module design enabling energy regeneration in VIAs by exploiting the regenerative braking effect of dc motors....     »
Stichworte:
Damping; Robots; Actuators; Task analysis; Impedance; Energy consumption; Springs; Compliant joint/mechanism; compliance and impedance control; energy efficient actuation and control; energy and environment-aware automation
Zeitschriftentitel:
IEEE Transactions on Robotics
Jahr:
2020
Band / Volume:
36
Monat:
Dec
Heft / Issue:
6
Seitenangaben Beitrag:
1778-1790
Volltext / DOI:
doi:10.1109/TRO.2020.2998641
Print-ISSN:
1941-0468
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