Exploiting Variable Physical Damping in Rapid Movement Tasks

A. Radulescu; M. Howard; D.J. Braun; S. Vijayakumar

doi:10.1109/AIM.2012.6265889

Exploiting Variable Physical Damping in Rapid Movement Tasks

A. Radulescu, M. Howard, D.J. Braun, S. Vijayakumar

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract / Description of output

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 language	English
Title of host publication	2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Taiwan
Publisher	Institute of Electrical and Electronics Engineers
Pages	141-148
Number of pages	8
ISBN (Print)	978-1-4673-2575-2
DOIs	https://doi.org/10.1109/AIM.2012.6265889
Publication status	Published - 2012

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10.1109/AIM.2012.6265889

http://homepages.inf.ed.ac.uk/svijayak/publications/radulescu-AIM2012.pdf

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title = "Exploiting Variable Physical Damping in Rapid Movement Tasks",

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.",

author = "A. Radulescu and M. Howard and D.J. Braun and S. Vijayakumar",

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publisher = "Institute of Electrical and Electronics Engineers",

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AU - Radulescu, A.

AU - Howard, M.

AU - Braun, D.J.

AU - Vijayakumar, S.

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Y1 - 2012

N2 - 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.

AB - 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.

U2 - 10.1109/AIM.2012.6265889

DO - 10.1109/AIM.2012.6265889

M3 - Conference contribution

SN - 978-1-4673-2575-2

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EP - 148

BT - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Taiwan

PB - Institute of Electrical and Electronics Engineers

ER -

Exploiting Variable Physical Damping in Rapid Movement Tasks

Abstract / Description of output

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