Optimal Control of an Energy-Recycling Actuator for Mobile Robotics Applications
Erez Krimsky,Steven H. Collins,Erez Krimsky,Steven H. Collins
Actuator power consumption is a limiting factor in mobile robot design. In this paper we introduce the concept of an energy-recycling actuator, which uses an array of springs and clutches to capture and return elastic energy in parallel with an electric motor. Engaging and disengaging clutches appropriately could reduce electrical energy consumption without sacrificing controllability, but present...
