A development of a fully self-contained real-time tunable spring

Takuya Umedachi, Akio Ishiguro

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

7 Citations (Scopus)

Abstract

Traditionally, robot control has been done typically by "highly precise control algorithms": the position of each movable body part is accurately determined at any time with vast amount of computation. This, however, causes serious problems, particularly in terms of adaptability and energy efficiency. On the other hand, an extreme approach has been gaining a lot of attention recently. A good instantiation is the passive dynamic walker, driven only by exploiting the intrinsic dynamics of its mechanical system. However, the mechanical system is not everything, just as the control system is not everything; "well-balanced" coupling between control and mechanical systems should be considered. In addition, the "meeting point" between the two systems should be flexibly varied according to the environment encountered. In light of these facts, this study intensively focuses on the stiffness of robots' joints, since this effectively influences the dominance relationship between control and mechanical systems. More specifically, the aim of this study is to develop a "real-time tunable spring" that can smoothly change its elasticity without changing its natural length, allowing robot's joints to change their position and stiffness independently.

Original languageEnglish
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages1662-1667
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Externally publishedYes
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: 2006 Oct 92006 Oct 15

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CountryChina
CityBeijing
Period06/10/906/10/15

Keywords

  • Elasticity
  • Real-time tunable spring
  • Well-balanced coupling between control and mechanical systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Umedachi, T., & Ishiguro, A. (2006). A development of a fully self-contained real-time tunable spring. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 (pp. 1662-1667). [4058614] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2006.282121