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Online reconfiguration of a variable-stiffness actuator. / Jimenez-Fabian, Rene; Weckx, Maarten; Rodriguez Cianca, David; Lefeber, Dirk; Vanderborght, Bram.

In: IEEE/ASME Transactions on Mechatronics, Vol. 23, No. 4, 8367870, 16.08.2018, p. 1866-1876.

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@article{5703891849d04d278a028676e2565e60,
title = "Online reconfiguration of a variable-stiffness actuator",
abstract = "This paper presents an algorithm to adjust the configuration of a variable-stiffness actuator to reduce its electrical energy requirements during the execution of repetitive tasks. The algorithm is based on the gradient descent optimization method with a modification of the adaptation step size, a forgetting term, and a projection rule to cope with the variation of the actual objective function and signal noise. The performance of the algorithm is validated with experimental results that confirm its capability to reduce the energy requirements of the actuator's driving mechanism. Simulation results illustrate the use of the algorithm in a two-degree-of-freedom system.",
keywords = "actuators, Adaptive systems, energy storage, optimization methods",
author = "Rene Jimenez-Fabian and Maarten Weckx and {Rodriguez Cianca}, David and Dirk Lefeber and Bram Vanderborght",
year = "2018",
month = "8",
day = "16",
doi = "10.1109/TMECH.2018.2841193",
language = "English",
volume = "23",
pages = "1866--1876",
journal = "IEEE/ASME Transactions on Mechatronics",
issn = "1083-4435",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "4",

}

RIS

TY - JOUR

T1 - Online reconfiguration of a variable-stiffness actuator

AU - Jimenez-Fabian, Rene

AU - Weckx, Maarten

AU - Rodriguez Cianca, David

AU - Lefeber, Dirk

AU - Vanderborght, Bram

PY - 2018/8/16

Y1 - 2018/8/16

N2 - This paper presents an algorithm to adjust the configuration of a variable-stiffness actuator to reduce its electrical energy requirements during the execution of repetitive tasks. The algorithm is based on the gradient descent optimization method with a modification of the adaptation step size, a forgetting term, and a projection rule to cope with the variation of the actual objective function and signal noise. The performance of the algorithm is validated with experimental results that confirm its capability to reduce the energy requirements of the actuator's driving mechanism. Simulation results illustrate the use of the algorithm in a two-degree-of-freedom system.

AB - This paper presents an algorithm to adjust the configuration of a variable-stiffness actuator to reduce its electrical energy requirements during the execution of repetitive tasks. The algorithm is based on the gradient descent optimization method with a modification of the adaptation step size, a forgetting term, and a projection rule to cope with the variation of the actual objective function and signal noise. The performance of the algorithm is validated with experimental results that confirm its capability to reduce the energy requirements of the actuator's driving mechanism. Simulation results illustrate the use of the algorithm in a two-degree-of-freedom system.

KW - actuators

KW - Adaptive systems

KW - energy storage

KW - optimization methods

UR - http://www.scopus.com/inward/record.url?scp=85047598424&partnerID=8YFLogxK

U2 - 10.1109/TMECH.2018.2841193

DO - 10.1109/TMECH.2018.2841193

M3 - Article

VL - 23

SP - 1866

EP - 1876

JO - IEEE/ASME Transactions on Mechatronics

JF - IEEE/ASME Transactions on Mechatronics

SN - 1083-4435

IS - 4

M1 - 8367870

ER -

ID: 36904886