{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,7,16]],"date-time":"2024-07-16T09:51:33Z","timestamp":1721123493430},"reference-count":28,"publisher":"Cambridge University Press (CUP)","issue":"4","license":[{"start":{"date-parts":[[2018,11,29]],"date-time":"2018-11-29T00:00:00Z","timestamp":1543449600000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2019,4]]},"abstract":"<jats:title>Summary<\/jats:title><jats:p>This work presents a <jats:italic>systematic<\/jats:italic> design selection methodology that utilizes a co-design strategy for system-level optimization of compliantly actuated robots that are known for their advantages over robotic systems driven by rigid actuators. The introduced methodology facilitates a decision-making strategy that is instrumental in making selections among system-optimal robot designs actuated by various degrees of variable or fixed compliance. While the simultaneous co-design method that is utilized throughout guarantees systems performing at their full potential, a homotopy technique is used to maintain integrity via generation of a continuum of robot designs actuated with varying degrees of variable and fixed compliance. Fairness of the selection methodology is ensured via utilization of common underlying (variable) compliant actuation principle and dynamical task requirements throughout the generated system designs. The direct consequence of the developed methodology is that it allows robot designers make informed selections among a variety of systems which are guaranteed to perform at their best. Applicability of the introduced methodology has been validated using a case study for system-optimal design of an active knee prosthesis that is driven by a mechanically adjustable compliance and controllable equilibrium position actuator (MACCEPA) under a periodic\/real-life dynamical task.<\/jats:p>","DOI":"10.1017\/s0263574718001248","type":"journal-article","created":{"date-parts":[[2018,11,29]],"date-time":"2018-11-29T09:43:44Z","timestamp":1543484624000},"page":"656-674","source":"Crossref","is-referenced-by-count":4,"title":["A Systematic Design Selection Methodology for System-Optimal Compliant Actuation"],"prefix":"10.1017","volume":"37","author":[{"given":"Abdullah","family":"Kamadan","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Gullu","family":"Kiziltas","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Volkan","family":"Patoglu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2018,11,29]]},"reference":[{"key":"S0263574718001248_ref20","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2017.2765085"},{"key":"S0263574718001248_ref2","doi-asserted-by":"publisher","DOI":"10.1109\/ICORR.2005.1501126"},{"key":"S0263574718001248_ref7","first-page":"2455","article-title":"Skill of Compliance with Controlled Charging\/Discharging of Kinetic Energy","author":"Okada","year":"2002","journal-title":"IEEE International Conference on Robotics and Automation"},{"key":"S0263574718001248_ref21","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2015.2501019"},{"key":"S0263574718001248_ref10","first-page":"17","article-title":"Safe and Fast Actuators for Machines Interacting with Humans","author":"Bicchi","year":"2004","journal-title":"IEEE Technical Exhibition Based Conference on Robotics and Automation"},{"key":"S0263574718001248_ref16","first-page":"3770","article-title":"Optimality Principles in Variable Stiffness Control: The VSA Hammer","author":"Garabini","year":"2011","journal-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems"},{"key":"S0263574718001248_ref9","first-page":"4508","article-title":"Biologically Inspired Joint Stiffness Control","author":"Migliore","year":"2005","journal-title":"IEEE International Conference on Robotics and Automation"},{"key":"S0263574718001248_ref19","doi-asserted-by":"publisher","DOI":"10.1109\/ACC.2001.946008"},{"key":"S0263574718001248_ref17","first-page":"3347","article-title":"Optimal Control for Exploiting the Natural Dynamics of Variable Stiffness Robots","author":"Haddadin","year":"2008","journal-title":"IEEE International Conference on Robotics and Automation"},{"key":"S0263574718001248_ref3","doi-asserted-by":"publisher","DOI":"10.1109\/BIOROB.2008.4762919"},{"key":"S0263574718001248_ref27","unstructured":"27. 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Leyffer , \u201cNonlinear Programming without a Penalty Function,\u201d Technical Report (University of Dundee, 1997)."},{"key":"S0263574718001248_ref1","first-page":"399","article-title":"Series Elastic Actuators","author":"Pratt","year":"1995","journal-title":"IEEE\/RSJ International Conference on Intelligent Robots and Systems"},{"key":"S0263574718001248_ref4","doi-asserted-by":"publisher","DOI":"10.1115\/1.2264391"},{"key":"S0263574718001248_ref5","first-page":"421","article-title":"Series Elastic Actuation for Force Controlled Micro-Manipulation","author":"Tokatli","year":"2011","journal-title":"IEEE International Conference on Mechatronics (ICM)"},{"key":"S0263574718001248_ref8","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2006.02.013"},{"key":"S0263574718001248_ref11","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2014.2321428"},{"key":"S0263574718001248_ref12","first-page":"2195","article-title":"MACCEPA: The Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator for \u2018Controlled Passive Walking\u2019","author":"Ham","year":"2006","journal-title":"IEEE International Conference on Robotics and Automation"},{"key":"S0263574718001248_ref13","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2010.5648902"},{"key":"S0263574718001248_ref14","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2013.6697140"},{"key":"S0263574718001248_ref15","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2004.1310939"},{"key":"S0263574718001248_ref18","first-page":"623","article-title":"Relationship between Coupling and the Controllability Grammian in Co-design Problems","author":"Peters","year":"2010","journal-title":"American Control Conference"},{"key":"S0263574718001248_ref22","first-page":"1","article-title":"Modeling, control, and numerical simulations of a novel binary-controlled variable stiffness actuator (bcvsa)","volume":"5","author":"Hussain","year":"2018","journal-title":"Front. 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Maxon Motor AG, \u201cMaxon motor online shop,\u201d June 2017, URL: http:\/\/www.maxonmotor.com."},{"key":"S0263574718001248_ref6","first-page":"1314","article-title":"Roboleg: A Robotic Soccer-Ball Kicking Leg","author":"Schempf","year":"1995","journal-title":"IEEE International Conference on Robotics and Automation"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574718001248","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,14]],"date-time":"2019-04-14T18:23:58Z","timestamp":1555266238000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574718001248\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,11,29]]},"references-count":28,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2019,4]]}},"alternative-id":["S0263574718001248"],"URL":"https:\/\/doi.org\/10.1017\/s0263574718001248","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018,11,29]]}}}