Results 91 to 100 of about 454,587 (291)
Base Force/Torque Sensing for Position based artesian Impedance Control [PDF]
, 2009 In this paper, a position based impedance controller (i.e. admittance controller) is designed by utilizing measurements of a force/torque sensor, which is mounted at the robot’s base.
Nakamura, Yoshihiko, Ott, Christian
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Asymmetry in Skipping Enhances Viability Against Control Input Noise
Advanced Robotics Research, EarlyView.Quadruped animals use asymmetric galloping gaits at high speeds, yet the functional role of this asymmetry remains unclear. This study shows that left–right asymmetry in touchdown angles enhances robustness to control noise. Using a simple two‐legged locomotion model and viability theory, it demonstrates that asymmetric skipping substantially enlarges ...
Yuichi Ambe, Alvin So, Shinya Aoi
wiley +1 more source
A Superlubricated Magnetically Steerable Microcatheter with Integrated Optical and Fluidic Channels
Advanced Robotics Research, EarlyView.A magnetically steerable microcatheter with integrated optical and fluidic channels is developed for multifunctional navigation in tortuous anatomical environments. A surface‐grafted hydrogel coating enables low‐friction actuation. The device demonstrates stable light and fluid delivery during magnetic manipulation, offering a compact platform for ...
Yuntian Du +5 more
wiley +1 more source
Advanced Robotics Research, EarlyView.This work presents a state‐adaptive Koopman linear quadratic regulator framework for real‐time manipulation of a deformable swab tool in robotic environmental sampling. By combining Koopman linearization, tactile sensing, and centroid‐based force regulation, the system maintains stable contact forces and high coverage across flat and inclined surfaces.
Siavash Mahmoudi +2 more
wiley +1 more source
International Journal of Advanced Robotic Systems, 2018 Computed torque control is an effective control scheme for trajectory tracking of robotic manipulators. However, computed torque control requires precise dynamic models of robotic manipulators and is severely affected by uncertain dynamics.
Chao Chen +4 more
doaj +1 more source
Compliant Pneumatic Feet with Real‐Time Stiffness Adaptation for Humanoid Locomotion
Advanced Robotics Research, EarlyView.A compliant pneumatic foot with real‐time variable stiffness enables humanoid robots to adapt to changing terrains. Using onboard vision and pressure control, the foot modulates stiffness within each gait cycle, reducing impact forces and improving balance. The design, cast in soft silicone with embedded air chambers and Kevlar wrapping, offers durable,
Irene Frizza +3 more
wiley +1 more source
Advanced Robotics Research, EarlyView.This work presents a robotic control method for human–robot collaborative assembly based on a biomechanics‐constrained digital human model. Reinforcement learning is used to generate physiologically plausible human motion trajectories, which are integrated into a virtual environment for robot control learning.
Bitao Yao +4 more
wiley +1 more source
Dynamics of Atmospheric Regression Patterns: Regional Mountain Torque Events [PDF]
, 2006 The regression of atmospheric fields against a parameter P with lag τ is a standard procedure in meteorology. Here, the torque exerted by a mountain massif is chosen as a parameter in order to study the interaction of weather systems with orography on a ...
Egger, Joseph, Hoinka, Klaus-Peter
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Efficient and Robust Standing Postures of Quadruped Robots
Advanced Robotics Research, EarlyView.A calibrated static framework estimates load, optimizes torques, and adapts posture so quadruped robots stand efficiently and robustly under external payloads, achieving up to 50% lower torque demand. Inspired by the natural posture adjustments of animals under external loading, this article presents an optimization‐based framework for minimizing joint
Mohamad Kanaan +5 more
wiley +1 more source
Desenvolvimento de uma bancada para medição automatizada de potência mecânica em motores elétricos de alta rotação e baixo torque [PDF]
, 2012 Dissertação (mestrado) - Universidade Federal de Santa Catarina, Centro Tecnológico, Programa de Pós-Graduação em Metrologia Científica e Industrial, Florianópolis, 2009O motor elétrico empregado tem significativa participação no desempenho operacional ...
Souza Neto, Benjamim Medeiros de
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