• DocumentCode
    3713711
  • Title

    Flywheel-based 2 DOF robotic actuator design for generating harmonic motions

  • Author

    Jeong-Yean Yang;Dong-Soo Kwon

  • Author_Institution
    Human-Robot Interaction Research Center, Korea Advanced Institute of Science and Technology, 291, Daehak-ro, Yuseong-gu, Daejeon, 135-701, Korea
  • fYear
    2015
  • Firstpage
    392
  • Lastpage
    397
  • Abstract
    To improve the dynamical effect of robotic motion, this paper is focused on the efficient usage of storing angular momentum. With the pair of two actuators, we proposed a flywheel-based actuator in which angular momentum is stored for high-torque generation and various types of harmonic patterns are controlled. The kinematic design and the control issues are introduced and the experimental results are discussed.
  • Keywords
    "Actuators","Torque","Kinematics","Energy storage","Service robots","Dynamics"
  • Publisher
    ieee
  • Conference_Titel
    Ubiquitous Robots and Ambient Intelligence (URAI), 2015 12th International Conference on
  • Type

    conf

  • DOI
    10.1109/URAI.2015.7358883
  • Filename
    7358883
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3713711