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A systematic analysis of spring symmetry on optimality of antagonistic variable stiffness actuation

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Kamadan, Abdullah and Kızıltaş, Güllü and Patoğlu, Volkan (2017) A systematic analysis of spring symmetry on optimality of antagonistic variable stiffness actuation. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), Vancouver, CA

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Official URL: http://dx.doi.org/10.1109/IROS.2017.8206459

Abstract

We present a new formal system-level co-design optimization framework that enables comparison of antagonist variable stiffness actuators (VSA) with and without spring symmetry constraints. The proposed framework promotes a fair comparative analysis by maintaining design continuity among system-optimal designs of symmetric and asymmetric VSA configurations. Through a case study of a VSA-powered knee prosthesis, we not only demonstrate that co-design of robots driven by VSAs can provide important performance benefits with respect to sub-system level control-optimal designs, but also provide evidence that relaxing symmetry constraints for certain periodic tasks can result in substantial advantages in performance. Our systematic comparative analysis justifies the use of asymmetric stiffness arrangements for antagonistic VSApowered robotic systems performing periodic tasks.

Item Type:Papers in Conference Proceedings
Subjects:T Technology > TJ Mechanical engineering and machinery
T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics
ID Code:35448
Deposited By:Güllü Kızıltaş
Deposited On:13 Aug 2018 11:58
Last Modified:13 Aug 2018 11:59

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