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  4. A Novel Mechanism for Varying Stiffness Via Changing Transmission Angle
 
conference paper

A Novel Mechanism for Varying Stiffness Via Changing Transmission Angle

Hung, Vu Quy
•
Aryananda, Lijin
•
Iqbal Sheikh, Farrukh
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2011
2011 IEEE International Conference on Robotics and Automation
2011 IEEE International Conference on Robotics and Automation

Compliant actuation contributes enormously in legged locomotion robotics since it is able to alleviate control efforts in improving the robot’s adaptability and energy efficiency. In this paper, we present a novel design of a variable stiffness rotary actuator, called MESTRAN, which was especially targeted to address the limitations in terms of the amount of energy and time required to vary the stiffness of an actuated joint. We have constructed a mechanical model in simulation and a physical prototype. We conducted a series of experiments to validate the performance of the MESTRAN actuator prototype. The results from the simulation and experiments show that MESTRAN allows independent control of stiffness and position of an actuated rotary joint with a large operational range and high speed. The torque-displacement relationship is close to linear. Lastly, the MESTRAN actuator is energy-efficient since a certain stiffness level is maintained without energy input.

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Type
conference paper
DOI
10.1109/ICRA.2011.5980097
Author(s)
Hung, Vu Quy
Aryananda, Lijin
Iqbal Sheikh, Farrukh
Casanova, Flurin
Pfeifer, Rolf
Date Issued

2011

Published in
2011 IEEE International Conference on Robotics and Automation
ISBN of the book

978-1-61284-386-5

Start page

5076

End page

5081

Editorial or Peer reviewed

REVIEWED

Written at

OTHER

EPFL units
NCCR-ROBOTICS  
Event nameEvent placeEvent date
2011 IEEE International Conference on Robotics and Automation

Shanghai International Conference Center, China

May 9-13, 2011

Available on Infoscience
March 13, 2012
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/78733
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