Exploiting Variable Physical Damping in Rapid Movement Tasks

Andreea Radulescu, Matthew Howard, David J. Braun, Sethu Vijayakumar

Research output: Chapter in Book/Report/Conference proceedingConference paper

42 Citations (Scopus)

Abstract

Until now, design of variable physical impedance actuators (VIAs) has been limited mainly to realising variable stiffness while other components of impedance shaping, such as damping, are either fixed (e.g., with the addition of fixed passive dampers) or modulated with active feedback control schemes. In this work we introduce an actuator that is capable of simultaneous and independent physical damping and stiffness modulation. Using optimal control techniques, we explore how variable physical damping can be exploited in such an actuator in the context of rapid movement. Several numerical simulation results are presented, in addition to an experiment realised on variable impedance robotic hardware.
Original languageEnglish
Title of host publication2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
PublisherIEEE
Pages141-148
Number of pages8
ISBN (Print)978-1-4673-2575-2
DOIs
Publication statusPublished - 2012

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