作者
Bram Vanderborght, Alin Albu-Schäffer, Antonio Bicchi, ......., N Tsagarakis, Darwin G Caldwell, Raffaella Carloni, M Catalano, Oliver Eiberger, Werner Friedl, Ganesh Ganesh, Manolo Garabini, Markus Grebenstein, Giorgio Grioli, Sami Haddadin, Hannes Hoppner, Amir Jafari, Matteo Laffranchi, Dirk Lefeber, Florian Petit, Stefano Stramigioli, N Tsagarakis, Michaël Van Damme, Ronald Van Ham, Ludo C Visser, Sebastian Wolf
发表日期
2013/12/31
期刊
Robotics and Autonomous Systems
卷号
61
期号
12
页码范围
1601-1614
出版商
North-Holland
简介
Variable Impedance Actuators (VIA) have received increasing attention in recent years as many novel applications involving interactions with an unknown and dynamic environment including humans require actuators with dynamics that are not well-achieved by classical stiff actuators. This paper presents an overview of the different VIAs developed and proposes a classification based on the principles through which the variable stiffness and damping are achieved. The main classes are active impedance by control, inherent compliance and damping actuators, inertial actuators, and combinations of them, which are then further divided into subclasses. This classification allows for designers of new devices to orientate and take inspiration and users of VIA’s to be guided in the design and implementation process for their targeted application.
学术搜索中的文章
B Vanderborght, A Albu-Schäffer, A Bicchi, E Burdet… - Robotics and autonomous systems, 2013