Zhangxing Liu — accepted AI-conference papers

2022

An Online Stiffness Estimation Approach for Variable Stiffness Actuators Using Lever Mechanism

Zhangxing Liu, Hongzhe Jin, Yubin Liu, Jie Zhao

RA-L 2022

The lever mechanism is widely used in variable stiffness actuators for its advantages of a wide stiffness regulation range and fast response. However, online stiffness estimation for this mechanism has not been fully investigated. The high nonlinearity of joint flexibility and the dynamic coupling b

Cited by 7 Source ↗Scholar ↗

2021

A Variable Stiffness Actuator Based on Second-order Lever Mechanism and Its Manipulator Integration

Zhangxing Liu, Hongzhe Jin, Hui Zhang, Yubin Liu, Yilin Long, Xiufang Liu +1

ICRA 2021poster

This paper presents a new variable stiffness actuator based on a second-order lever mechanism which has wide stiffness regulation range. By employing a novel symmetric structure design and improving the load capacity of the stiffness regulation module, the proposed actuator also shows well performan…

Cited by 10 Source ↗Scholar ↗