Stiffness Modulation of A1-DOF Robotic Manipulator with Antagonistic Actuators

DOI

10.2991/aiie-15.2015.35How to use a DOI?

Keywords

stiffness modulation; redundant actuation; antagonistic stiffness; musculoskeletal structure

Abstract

Stiffness modulation scheme for a robotic driving system with redundant actuation was investigated in this paper. The dynamic and the stiffness models of a simple system having one link and two prismatic actuators were derived and employed for computational simulations of dynamic response to an initial disturbance. Several combinations with different types of elastic elements were applied to the system and their movement were analysed.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - J.H. Lee
AU  - S. Okamoto
PY  - 2015/07
DA  - 2015/07
TI  - Stiffness Modulation of A1-DOF Robotic Manipulator with Antagonistic Actuators
BT  - Proceedings of the 2015 International Conference on Artificial Intelligence and Industrial Engineering
PB  - Atlantis Press
SP  - 125
EP  - 128
SN  - 1951-6851
UR  - https://doi.org/10.2991/aiie-15.2015.35
DO  - 10.2991/aiie-15.2015.35
ID  - Lee2015/07
ER  -