6 accepted papers
Research on human-friendly robots focuses on safety through software and hardware. Hardware-based safety offers a significant advantage over software-based safety if an accurate hardware model is integrated into the solution. Design of elastic and off-joint actuation has established safety by hardwa
In collaborative robotics, the safety of humans interacting with cobots is crucial. There is a need for collaborative robots that can move quickly while still being safe. This paper introduces the use of a kinematically redundant actuator in impedance control mode to reduce collision forces, aiming
Actuation concepts such as Series Elastic Actuation (SEA), Parallel Elastic Actuation (PEA), and Biarticular Actuation (BA), which introduce elastic elements into the structure, have the potential to reduce the electrical energy consumption of a robot. This letter presents an optimization of the arr
Redundant actuators enable to distribute power among two motors, which can be selected optimally in terms of efficiency. We propose a methodology that finds effective combinations of motors and gearboxes for a dynamic load, taking into account the constraints, inertia, and efficiency of each compone
Gravity compensators are passive devices that can lower the energy consumption of lifting systems by reducing the force/torque required from human users or actuators. This letter presents a prismatic gravity compensator for cranes, gantry, and other lifting systems. It is capable of statically balan
On compliant robotic systems, modularity is recently adopted for the ease of up- and downscaling and the possibility to downgrade the costs, by moving towards the combination of standard units instead of custom designs. However, modularity on the actuator level itself lacks more thorough evaluation.