ICRA 2011 Paper Abstract


Paper ThA207.4

Catalano, Manuel (Faculty of Engineering - University of Pisa), Grioli, Giorgio (UniversitÓ di Pisa), Garabini, Manolo (Centro interdipartimentale di Ricerca E. Piaggio - UniversitÓ di), Bonomo, Fabio (Faculty of Engineering - University of Pisa), Mancini, Michele (UniversitÓ di Pisa), Tsagarakis, Nikolaos (Italian Institute of Technology (IIT)), Bicchi, Antonio (University of Pisa)

VSA-CubeBot: A Modular Variable Stiffness Platform for Multiple Degrees of Freedom Robots

Scheduled for presentation during the Regular Sessions "Variable Stiffness Actuators II" (ThA207), Thursday, May 12, 2011, 10:50−11:05, Room 5B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on August 18, 2019

Keywords Compliant Joint/Mechanism, New Actuators for Robotics, Flexible Arms


We propose a prototype of a Variable Stiffness Actuator (VSA) conceived with low cost as its first goal. This approach was scarcely covered in past literature. Many recent works introduced a large number of actuators with adjustable stiffness, optimized for a wide set of applications. They cover a broad range of design possibilities, but their availability is still limited to small quantities. This work presents the design and implementation of a modular servo-VSA multi-unit system, called VSA-CubeBot. It offers a customizable platform for the realization and test of variable stiffness robotic structures with many degrees of freedom. We present solutions relative to the variable stiffness mechanism, embedded electronics, mechanical and electrical interconnections. Characteristics, both theoretic and experimental, of the single actuator are reported and, finally, five units are interconnected to form a single arm, to give an example of the many possible applications of this modular VSA actuation unit.



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