IBSA Joint: A Fully Integrated Bi-Stiffness Actuator Joint for Precise Energy Transfer Timing in Explosive Motion Tasks
Yildirim, Mehmet C. Pozo Fortunic, Edmundo Ossadnik, Dennis Rakcevic, Vasilije Samuel, Kangwagye Swikir, Abdalla Le Mesle, Valentin Haddadin, Sami
Yildirim, Mehmet C.
Pozo Fortunic, Edmundo
Ossadnik, Dennis
Rakcevic, Vasilije
Samuel, Kangwagye
Swikir, Abdalla
Le Mesle, Valentin
Haddadin, Sami
Supervisor
Department
Robotics
Embargo End Date
Type
Conference proceeding
Date
2025
License
Language
English
Collections
Research Projects
Organizational Units
Journal Issue
Abstract
Despite the promise of elastic actuation for energy efficiency and performance, the deployment of robotic systems with elastic joints capable of executing highly dynamic and explosive motions is still limited. We address that gap in this paper by advancing the Bi-Stiffness Actuation (BSA) concept through the design and control of a fully integrated BSA joint (iBSA) that combines elastic energy storage with robust high-speed control. Particularly, we address the need for system-level integration rather than isolated component analysis, as commonly seen in existing literature. Additionally, we introduce an advanced and robust high-speed control system specifically tailored to the iBSA joint's complex control and dynamic response requirements. Through detailed simulations and experimental validation, we demonstrate that the iBSA joint significantly improves efficient energy transfers, precise control, and dynamic performance in challenging tasks such as explosive movements. We develop the iBSA joint with a focus on optimising both actuator design and overall system performance. Moreover, this work addresses key challenges in the timing control of energy storage and release, enabling a practical framework for implementing next-generation high-performance elastic manipulators.
Citation
M. C. Yildirim et al., "IBSA Joint: A Fully Integrated Bi-Stiffness Actuator Joint for Precise Energy Transfer Timing in Explosive Motion Tasks," 2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids), Seoul, Korea, Republic of, 2025, pp. 546-553, doi: 10.1109/Humanoids65713.2025.11203116.
Source
Proceedings of The IEEE-RAS International Conference on Humanoid Robots
Conference
2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids)
Keywords
Actuators, Energy Exchange, System Performance, Humanoid Robots, Explosives, Energy Efficiency, Timing, Next Generation Networking, Manipulator Dynamics, Energy Storage
Subjects
Source
2025 IEEE-RAS 24th International Conference on Humanoid Robots (Humanoids)
Publisher
IEEE