MATERIAL

 

 

Videos of the Lectures

 

The videos of all the lectures are available at this link: https://www.youtube.com/watch?v=yx6Zwz_eJmk&list=PLzEoYml21jz7Uw3PQZBuVqLn0eIR3_PPN

 

 

 

Slides of the Lectures

 

Bram Vanderborght - Variable Stiffness Actuators

Tom Verstraten - Energy efficiency of actuators with DC motors

Bram Vanderborght - Novel actuation principles: series-parallel elastic actuation and self healing materials.

Giorgio Grioli - Variable Stiffness Actuators: User's Point of View

Manolo Garabini - Motion Control

Fabrizio Flacco - Stiffness Estimation

Alessandro de Luca - Control of Soft Robots: Feedback Linearization, Collision Detection, and  Impedance Control

Etienne Burdet - Motor Control

Antonio Bicchi - Understanding, Designing and Controlling “Natural Motion” with Variable Impedance Actuators

Dominic Lakatos - VSA in Cyclic Motions

 

 

 

Teaching Material

 

VSA, a review:

 

B. Vanderborght, Albu-Schaeffer, A., Bicchi, A., Burdet, E., Caldwell, D. G., Carloni, R., Catalano, M. G., Eiberger, O., Friedl, W., Ganesh, G., Garabini, M., Grebenstein, M., Grioli, G., Haddadin, S., Hoppner, H., Jafari, A., Laffranchi, M., Lefeber, D., Petit, F., Stramigioli, S., Tsagarakis, N. G., Damme, V. M., Ham, V. R., Visser, L. C., and Wolf, S., “Variable Impedance Actuators: a Review”, Robotics and Autonomous Systems, vol. 61, no. 12, pp. 1601–1614, 2013
PDF

 

 

Variable Stiffness Actuator, User's Point of View:

 

G. Grioli, Wolf, S., Garabini, M., Catalano, M. G., Burdet, E., Caldwell, D. G., Carloni, R., Friedl, W., Grebenstein, M., Laffranchi, M., Lefeber, D., Stramigioli, S., Tsagarakis, N. G., Damme, V. M., Vanderborght, B., Albu-Schaeffer, A., and Bicchi, A., “Variable Stiffness Actuators: the user’s point of view”, Int. J. Robotics Research, In Press

PDF; Extensions (ZIP)

 

 

Motor Control:

 

E. Burdet, D. W. Franklin, T. E. Milnerlink, "Human Robotics: Neuromechanics and Motor Control", MIT Press. Link

 

E. Burdet, G. Ganesh, C. Yang and A. Albu-Schaeffer, "Interaction Force, Impedance and Trajectory
Adaptation: by Humans, for Robots
". PDF


C. Yang, Member, G. Ganesh, S. Haddadin, S. Parusel, A. Albu-Schaeffer, E. Burdet, "Human-Like Adaptation of Force and Impedance in Stable and Unstable Interactions", IEEE Transactions on Robotics, Vol. 27, No. 5, Oct 2011. PDF

 

 

Optimal Control:

 

A. E. Bryson, Jr. and Yu-Chi Ho, "Applied optimal control: Optimization, estimation, and control", Blaisdell Publishing Company, Waltham, Mass. (1969), 481 pp.

 

M. Garabini, A. Passaglia, F. Belo, P. Salaris, A. Bicchi, “Optimality Principles in Variable Stiffness Control: the VSA Hammer", 2011 IEEE/RSJ International Conference on Intelligent RObots and Systems, pp. 3770 - 3775. PDF

 

M. Garabini, A. Passaglia, F. Belo, P. Salaris, A. Bicchi, “Optimality Principles in Stiffness Control: The VSA Kick”, IEEE International Conference of Robotics and Automation - ICRA 2012, pp. 3341 - 3346, PDF

 

A. Velasco, G.M. Gasparri, M. Garabini, L. Malagia, P. Salaris, A. Bicchi, “Soft-Actuators in Cyclic Motion: Analytical Optimization of Stiffness and Pre-Load”, 2013 IEEE-RAS International Conference on Humanoid RobotsPDF

 

L. Chen, M. Garabini, M. Laffranchi, N. Kashiri, N.G. Tsagarakis, A. Bicchi, D.G. Caldwell, “Optimal Control for Maximizing Velocity of the CompActTM Compliant Actuator”, IEEE International Conference on Robotics and Automation (ICRA2013), p. 516 - 522, PDF

 

R. Incaini, L. Sestini, M. Garabini, M.G. Catalano, G. Grioli, A. Bicchi, “Optimal Control and Design Guidelines for Soft Jumping Robots: Series Elastic Actuation and Parallel Elastic Actuation in comparison”, IEEE International Conference on Robotics and Automation (ICRA2013), pp. 2477 - 2484, PDF

 

Ozparpucu, M. C. & Haddadin, S. , "Optimal control for maximizing link velocity of visco-elastic joints", 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3035-3042. Link IEEExplore 

 

D. J. Braun, F. Petit, F. Huber, S. Haddadin, P. van der Smagt, A. Albu-Schaffer, S. Vijayakumar, "Optimal torque and stiffness control in compliantly actuated robots", 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2801-2808, PDF 

 

S. Haddadin, M. Weis, S. Wolf, A. Albu-Schaeffer, "Optimal control for maximizing potential energy in a variable stiffness joint", 2012 IEEE 51st Annual Conference on Decision and Control (CDC), pp. 1199-1206, PDF

 

S. Haddadin, F. HUber, A. Albu-Schaeffer, "Optimal control for exploiting the natural dynamics of variable stiffness robots", 2012 IEEE International Conference on Robotics and Automation (ICRA), pp. 3347-3354. Link IEEExplore 

 

S. Haddadin, N. Mansfeld, A. Albu-Schäffer, "Rigid vs. elastic actuation: Requirements & performance", 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5097-5104. Link IEEExplore

 

T. Hondo, I. Mizuuchi, "Analysis of the 1joint springmotor coupling system and optimization criteria focusing on the velocity increasing effect", 2011 IEEE International Conference on Robotics and Automation (ICRA), pp. 1412 - 1418, PDF

 

 

VSA in Cyclic Motions:

 

D. Lakatos, F. Petit, A. Albu-Schaeffer, "Nonlinear Oscillations for Cyclic

Movements in Human and Robotic Arms", IEEE Transactions on Robotics, vol.30, no.4, pp.865 - 879, 2014, PDF

 

D. Lakatos, F. Petit, and P. van der Smagt. "Conditioning vs. excitation time for

estimating impedance parameters of the human arm", 11th IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2011, PDF

 

D. Lakatos, D. Rüschen, J. Bayer, J. Vogel, P. van der Smagt, "Identification of human limb stiffness in 5 DoF and estimation via EMG", Experimental Robotics, Springer Tracts in Advanced Robotics Volume 88, 2013, pp 89-99, 2013, PDF

 

D. Lakatos, F. Petit, A. Albu-Schäffer. "Nonlinear oscillations for cyclic movements in variable impedance actuated robotic arms" IEEE International Conference on  Robotics and Automation (ICRA), 2013, Link IEEExplore

 

D. Lakatos, G. Garofalo, F. Petit, C. Ott, A. Albu-Schäffer "Modal limit cycle control for variable stiffness actuated robots" IEEE International Conference on Robotics and Automation (ICRA), 2013, Link IEEExplore

 

D. Lakatos, M. Görner, F. Petit, A. Dietrich, A. Albu-Schäffer "A modally adaptive control for multi-contact cyclic motions in compliantly actuated roboticsystems." IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013, PDF

 

D. Lakatos,  G. Garofalo, A. Dietrich, A. Albu-Schäffer "Jumping Control for Compliantly Actuated Multilegged Robots", IEEE International Conference on Robotics and Automation (ICRA), 2014, Link IEEExplore

 

D. Lakatos, A. Alin Albu-Schäffer "Neuron Model Interpretation of a Cylcic Motion Control Concept", 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, 2014, Link IEEExplore

 

D. Lakatos, A. Alin Albu-Schäffer "Switching based limit cycle control for compliantly actuated mechanical systems" Proceedings of the 19th IFAC World Congress, 2014, PDF

 

D. Lakatos, C. Rode, A. Seyfarth, A. Albu-Schäffer, "Design and Control of Compliantly Actuated Bipedal Running Robots: Concepts to Exploit Natural System Dynamics", IEEE/RAS International Conference on Humanoid Robots, 2014, PDF