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Introducing Series Elastic Links

  • Andrea Calanca
  • Luca Bettinelli
  • Eldison Dimo
  • Rudy Vicario
  • Mauro Serpelloni
  • Paolo Fiorini
Conference paper
Part of the Biosystems & Biorobotics book series (BIOSYSROB, volume 22)

Abstract

This paper introduces the concept of Series Elastic Link which exploits the inherent elasticity of flexible links to implement compliant actuation and control using lightweigt and low cost components.

References

  1. 1.
    Pratt, G.A., Williamson, M.: Series elastic actuators. In: International Conference on Intelligent Robots and Systems, vol. 1, pp. 399–406. IEEE (1995)Google Scholar
  2. 2.
    Calanca, A., Muradore, R., Fiorini, P.: A review of algorithms for compliant control of stiff and fixed compliance robots. IEEE Trans. Mechatron. 21(2), 613–624 (2016)CrossRefGoogle Scholar
  3. 3.
    Calanca, A., Fiorini, P.: Impedance control of series elastic actuators: passivity and acceleration-based control. Mechatronics 47, 37–48 (2017)CrossRefGoogle Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Andrea Calanca
    • 1
  • Luca Bettinelli
    • 2
  • Eldison Dimo
    • 1
  • Rudy Vicario
    • 1
  • Mauro Serpelloni
    • 2
  • Paolo Fiorini
    • 1
  1. 1.Department of Computer ScienceUniversity of VeronaVeronaItaly
  2. 2.Department of Information EngineeringUniversity of BresciaBresciaItaly

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