Abstract
In our previous study, we have proposed an energy saving control method, which designed to generate periodic motions by using actuator energy as less as possible. This paper presents experimental results of the energy saving control methods for multi-joint robots with elastic elements. In order to make clear the effects of the energy saving control method, we develop an experimental setup. Some control methods are performed on the experimental setup and several experimental results are provided. The results validates stiffness adaptation can effectively save energy, and simultaneously using stiffness adaptation and Delay Feedback Control can generate the periodic desired motions by using minimum actuator energy.
