WROCO Special Session
Smart Actuation : Theories and Demonstrations
An actuator is a channel that control theories realize their practical performances in robot systems. In the viewpoint of robotic systems, the input is often regarded as the actuation force generated by an actuator, while it is often regarded as the command to the actuator in control theories. Therefore, the performance of an actuator is the key that connects theory and practice in Robot Control.
This Special Session explores up-to-date research outcomes in emerging actuation methods, so-called smart actuation systems. The importance of the smart actuation systems has become more evident than ever, since robotic systems started interacting with humans and environments closely. The requirements in smart actuation include not only the output torque, speed, and power, but also the controlled impedance, energy reproducibility, etc.
The analysis and design philosophy of these smart actuation systems will be presented and discussed during this session. This Special Session features hardware demonstrations as well. The presenters will bring their own smart actuation system, so that the participant can have hands-on experiences of smart actuators.
This Special Session is open to any researcher interested in smart actuation. The specific topics of this Special Session include (but are not limited to)
- Design of smart actuators (e.g., direct drive actuators, series elastic actuators, etc.)
- Power transmission of smart actuators (e.g., twisted string transmission, flexible shaft transmission, etc.)
- Control of smart actuators (e.g., zero impedance control, impedance matching control, etc.)
There is no limitation in participation to this special session. The tentative presenters include
- Kyoungchul (KC) Kong (KAIST)
- Hae-Won Park (KAIST)
- Sehoon Oh (DGIST)
If you are interested in presentation and/or demonstration of your smart actuation method, please do not hesitate to contact Professor Sehoon Oh before May 21st, 2019. Paper submission is not mandatory for this special session. Once your participation is confirmed, an invitation letter will be provided.
Examples of Smart Actuation Systems
Applications of Smart Actuators