Demonstrating the safety and performance of a velocity sourced series elastic actuator

Wyeth, G. F. (2008). Demonstrating the safety and performance of a velocity sourced series elastic actuator. In: Robotics and Automation 2008. IEEE International Conference on Robotics and Automation 2008 (ICRA 2008), Pasadena, CA, U.S.A., (3642-3647). 19-23 May 2008. doi:10.1109/ROBOT.2008.4543769


Author Wyeth, G. F.
Title of paper Demonstrating the safety and performance of a velocity sourced series elastic actuator
Conference name IEEE International Conference on Robotics and Automation 2008 (ICRA 2008)
Conference location Pasadena, CA, U.S.A.
Conference dates 19-23 May 2008
Proceedings title Robotics and Automation 2008   Check publisher's open access policy
Journal name 2008 Ieee International Conference On Robotics and Automation, Vols 1-9   Check publisher's open access policy
Place of Publication Piscataway, NJ, U.S.A.
Publisher IEEE - Institute of Electrical Electronics Engineers Inc.
Publication Year 2008
Sub-type Fully published paper
DOI 10.1109/ROBOT.2008.4543769
Open Access Status
ISBN 978-1-4244-1646-2
ISSN 1050-4729
Start page 3642
End page 3647
Total pages 6
Language eng
Abstract/Summary Actuators with deliberately added compliant elements in the transmission system are often described as improving the safety of the actuator at the detriment of the performance. We show that our variant of the series elastic actuator topology, the velocity sourced series elastic actuator, has well defined performance characteristics that make for improvements in safety and performance over conventional high impedance actuators. The improvement in performance was principally achieved by having tight velocity control of the DC motor that acts as the mechanical power source for the actuator. Results for performance are given for point to point transition times, while results for safety are based on empirical assessment of the head injury criterion during collisions.
Subjects E1
080101 Adaptive Agents and Intelligent Robotics
861699 Computer Hardware and Electronic Equipment not elsewhere classified
Keyword Actuators
DC motor
Velocity control
Q-Index Code E1
Q-Index Status Confirmed Code

 
Versions
Version Filter Type
Citation counts: TR Web of Science Citation Count  Cited 34 times in Thomson Reuters Web of Science Article | Citations
Scopus Citation Count Cited 48 times in Scopus Article | Citations
Google Scholar Search Google Scholar
Created: Tue, 14 Apr 2009, 00:45:43 EST by Donna Clark on behalf of School of Information Technol and Elec Engineering