Energy Localization in Spring-Motor Coupling System by Switching Mass Control

Abstract

The purpose of this research is to control energy localization in spring-motor coupling system. Effective use of springs is important for robots to achieve high speed motion. In particular, by localizing the energy to the part where the robot acts on environment (for example, hands and feet), tasks can be efficiently performed. Therefore, we propose an energy ratio control to achieve energy localization in spring-motor coupling system. For clarity and practicality, the energy ratio control is based on mass control that has robust acceleration control system with disturbance observer. In addition, incorporating energy control into the entire control system allows for energy regulation. For verification, simulation and experiments of the proposed method was conducted.