On the eve of Human-Robot-Interaction (HRI) becoming customary in our lives, the
performance of HRI robotic devices remains strongly conditioned by their gearboxes. In most …

This paper provides a detailed analysis of the power and mechanical/electrical energy
consumption of Series Elastic Actuators (SEAs) and Parallel Elastic Actuators (PEAs). The …

To improve the energy efficiency of a mobile robot, a novel energy modeling method for
mobile robots is proposed in this paper. The robot can calculate and predict energy …

Limited resources and resulting energy crises occurring all over the world highlight the
importance of energy efficiency in technological developments such as robotic manipulators …

This study analyses the energy consumption of an active magnetorheological knee (AMRK)
actuator that was designed for transfemoral prostheses. The system was developed as an …

It is well-established that properly tuned elastic elements can make robotic actuators more
energy-efficient, especially in cyclic tasks. Considering a drive train topology, two important …

Several works have shown that series and parallel elasticity can reduce peak power and
energy consumption in prosthetic ankles. Setting the right stiffness of the elastic elements is …

This paper describes a method for planning energy-efficient trajectories for industrial robots
driven by brushless or DC motors with regenerative braking. The optimization problem is …

By connecting two drivetrains to a single load, a redundant degree of freedom is created. In
this work, we investigate how the redundancy of such a system can be exploited in order to …

In robotic actuators, low speeds and high torques are usually required. Small electric motors,
which are more efficient at high speeds and low torques, do not fit the requirements directly …