Energy-Efficient Kinematically Redundant Actuation

Tom Verstraten

doi:10.1007/978-3-030-40886-2_8

Energy-Efficient Kinematically Redundant Actuation

Tom Verstraten

Applied Mechanics

Research output: Chapter in Book/Report/Conference proceeding › Chapter

Abstract

Muscles feature a large number of motor units (sarcomeres), distributed over parallel strands of muscle fibers. Only a selection of these motor units is recruited to generate the required muscle force. This mechanism has inspired researchers to introduce redundancy into engineered actuators. In this chapter, we discuss the potential of kinematically redundant actuation with regards to energy efficiency. The Dual-Motor Actuator is presented as a promising implementation.

Original language	English
Title of host publication	Novel Bioinspired Actuator Designs for Robotics
Editors	Philipp Beckerle, Maziar Ahmad Sharbafi, Tom Verstraten, Peter P. Pott, André Seyfarth
Publisher	Springer
Pages	75-80
Number of pages	6
ISBN (Electronic)	978-3-030-40886-2
ISBN (Print)	978-3-030-40885-5
DOIs	https://doi.org/10.1007/978-3-030-40886-2_8
Publication status	Published - 2021

Publication series

Name	Studies in Computational Intelligence
Publisher	Springer
Volume	888

Access to Document

10.1007/978-3-030-40886-2_8

Cite this

@inbook{7129bfbfc07545ee943fbae9eb6edf47,

title = "Energy-Efficient Kinematically Redundant Actuation",

abstract = "Muscles feature a large number of motor units (sarcomeres), distributed over parallel strands of muscle fibers. Only a selection of these motor units is recruited to generate the required muscle force. This mechanism has inspired researchers to introduce redundancy into engineered actuators. In this chapter, we discuss the potential of kinematically redundant actuation with regards to energy efficiency. The Dual-Motor Actuator is presented as a promising implementation.",

author = "Tom Verstraten",

year = "2021",

doi = "10.1007/978-3-030-40886-2_8",

language = "English",

isbn = "978-3-030-40885-5",

series = "Studies in Computational Intelligence",

publisher = "Springer",

pages = "75--80",

editor = "Philipp Beckerle and Sharbafi, {Maziar Ahmad} and Tom Verstraten and Pott, {Peter P.} and Andr{\'e} Seyfarth",

booktitle = "Novel Bioinspired Actuator Designs for Robotics",

}

TY - CHAP

T1 - Energy-Efficient Kinematically Redundant Actuation

AU - Verstraten, Tom

PY - 2021

Y1 - 2021

N2 - Muscles feature a large number of motor units (sarcomeres), distributed over parallel strands of muscle fibers. Only a selection of these motor units is recruited to generate the required muscle force. This mechanism has inspired researchers to introduce redundancy into engineered actuators. In this chapter, we discuss the potential of kinematically redundant actuation with regards to energy efficiency. The Dual-Motor Actuator is presented as a promising implementation.

AB - Muscles feature a large number of motor units (sarcomeres), distributed over parallel strands of muscle fibers. Only a selection of these motor units is recruited to generate the required muscle force. This mechanism has inspired researchers to introduce redundancy into engineered actuators. In this chapter, we discuss the potential of kinematically redundant actuation with regards to energy efficiency. The Dual-Motor Actuator is presented as a promising implementation.

UR - http://www.scopus.com/inward/record.url?scp=85114406017&partnerID=8YFLogxK

U2 - 10.1007/978-3-030-40886-2_8

DO - 10.1007/978-3-030-40886-2_8

M3 - Chapter

SN - 978-3-030-40885-5

T3 - Studies in Computational Intelligence

SP - 75

EP - 80

BT - Novel Bioinspired Actuator Designs for Robotics

A2 - Beckerle, Philipp

A2 - Sharbafi, Maziar Ahmad

A2 - Verstraten, Tom

A2 - Pott, Peter P.

A2 - Seyfarth, André

PB - Springer

ER -

Energy-Efficient Kinematically Redundant Actuation

Abstract

Publication series

Access to Document

Other files and links

Fingerprint

Cite this