| Title | VSA-II: A Novel Prototype of Variable Stiffness Actuator for Safe and Performing Robots Interacting with Humans |
| Publication Type | Conference Paper |
| Year of Publication | 2008 |
| Conference Name | Proc. IEEE Int. Conf. on Robotics and Automation |
| Pagination | 2171 - 2176 |
| Publication Language | eng |
| Authors | Schiavi, R, Grioli, G, Sen, S, Bicchi, A |
| Keywords | Robotics |
| Abstract | This paper presents design and performance of a novel joint based actuator for a robot run by variable stiffness actuation, meant for systems physically interacting with humans. This new actuator prototype (VSA-II) is developed as an improvement over our previously developed one reported in [9], where an optimal mechanical-control co-design principle established in [7] is followed as well. While the first version was built in a way to demonstrate effectiveness of variable impedance actuation (VIA), it had limitations in torque capacities, life cycle and implementability in a real robot. VSA-II overcomes the problem of implementability with higher capacities and robustness in design for longer life. The paper discusses design and stiffness behaviour of VSA-II in theory and experiments. A comparison of stiffness characteristics between the two actuator is discussed, highlighting the advantages of the new design. A simple, but effective PD scheme is employed to independently control joint-stiffness and joint-position of a 1-link arm. Finally, results from performed impact tests of 1- link arm are reported, showing the effectiveness of stiffness variation in controlling value of a safety metric. |
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