Differential elastic actuator for robotic interaction tasks

For complex robotic tasks (manipulation, locomotion, haptics, ...), the lack of knowledge of precise interaction models, the difficulties to precisely measure the task associated physical quantities (force, speed, ...) in real time and the non-collocation of sensors and transducers have negative effects on performance and stability of robots when using simple force or simple movement controllers. To cope with these issues, some researchers proposed a new approach named «interaction control» that refers to regulation of the robot’s dynamic behavior at its ports of interaction with the environment. Interaction control involves specifying a dynamic relationship between motion and force, and implementing a control law that attempts to minimize deviation from this relationship [1]. The implementation of machines able to precisely control interaction with its environment begins with the use of actuators specially designed for that purpose. To that effect, a new compact implementation de...

• Type: Conference
• Year: 2008
• Where: ICRA
• Authors: Michel Lauria, Marc-Antoine Legault, Marc-André Lavoie, François Michaud
• Keywords: Complex Robotic Tasks, ICRA 2008, Precise Interaction Models, Robotics, Robot’s Dynamic Behavior