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This paper shows how an accurate peg-in-hole assembly task can be easily achieved with nothing but cheap position sensors when resourcing to Variable Impedance Actuators (VIA). We present the use of a low-cost Variable Stiffness Torso platform, that consists of two 4-DOF non-planar VSA manipulators, for a peg-in-hole assembly task using both arms. One arm holds the peg and the other holds the hole...
The importance of Variable Stiffness Actuators (VSA) in safety and performance of robots has been extensively discussed in the last decade. It has also been shown recently that a VSA brings performance advantages with respect to common actuators. For instance, the solution of the optimal control problem of maximizing the speed of a VSA for impact maximization at a given position with free final time...
The control of a robot's mechanical impedance is attracting increasing attention of the robotics community. Recent research in Robotics has recognized the importance of Variable Stiffness Actuators (VSA) in safety and performance of robots. An important step in using VSA for safety has been to understand the optimality principles that regulate the synchronized variation of stiffness and velocity when...
The control of a robot's mechanical impedance is attracting increasing attention of the robotics community. Recent research in Robotics has recognized the importance of Variable Stiffness Actuators (VSA) in safety and performance of robots. An important step in using VSA for safety has been to understand the optimality principles that regulate the synchronized variation of stiffness and velocity when...
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