Reducing the Energy Consumption of Robots Using the Bidirectional Clutched Parallel Elastic Actuator

Parallel elastic actuators (PEAs) have shown the abilto reduce the energy consumption of robots. However, regular PEAs do not allow us to freely choose at which instant or configuration to store or release energy. This paper introduces the concept and design of the bidirectional clutched parallel el...

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Veröffentlicht in:	IEEE transactions on robotics 2016-12, Vol.32 (6), p.1512-1523
Hauptverfasser:	Plooij, Michiel, Wisse, Martijn, Vallery, Heike
Format:	Artikel
Sprache:	eng
Schlagworte:	Actuators Batteries Dynamics Elastic actuators Energy consumption Experiments Hysteresis motors Kinematics Kinetics mechanism design parallel elastic actuation Robots Simulation smart actuators
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