Results 221 to 230 of about 9,522 (260)
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Force controllable hydro-elastic actuator
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065), 2002We present a hydro-elastic actuator that has a linear spring intentionally placed in series between the hydraulic piston and actuator output. The spring strain is measured for an accurate estimate of force. This measurement alone is used in PI feedback to control the force in the actuator.
David W. Robinson, Gill A. Pratt
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Dynamic Morphing of Actuated Elastic Membranes
2019Parametric resonances of elastic membranes actuated by harmonic in-plane strains prescribed along given directions are exploited to drive dynamic morphing of lightweight, flexible panels employed in engineering applications which require active, shape-changing surfaces.
Arena A., Massimi F., Lacarbonara W.
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Dynamics and Coupling Actuation of Elastic Underactuated Manipulators
Journal of Robotic Systems, 2003AbstractThis paper investigates the constraint and coupling characteristics of underactuated manipulators by proposing an elastic model of the manipulator and examining the second order constraint equation. A dynamic model and a coupling constraint equation are developed from a Jacobian matrix and the Newton‐Euler formulation.
Tieshi Zhao, Jian S. Dai 0001
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Improvements to Series Elastic Actuators
2006 2nd IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications, 2006Actuators must be safe when interacting with humans, even in unexpected situations. Safety requires low impedance (low forces for a given perturbation) at all frequencies, not only in the actuator's stable bandwidth. Series Elastic Actuators (SEAs) are capable of achieving low impedance across all frequencies, though their force-frequency saturation ...
Jonathon Sensinger, Richard Ff. Weir
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Learning the Elasticity of a Series-Elastic Actuator for Accurate Torque Control
2017Series elastic actuators (SEAs) have been frequently used in torque control mode by using the elastic element as torque measuring device. In order to precisely control the torque, an ideal torque source is critical for higher level control strategies. The elastic elements are traditionally metal springs which are normally considered as linear elements ...
Bingbin Yu +3 more
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Rigid vs. elastic actuation: Requirements & performance
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012Intrinsically elastic joints have become increasingly popular over the last years. Commonly, they are considered to outperform rigid actuation in terms of peak dynamics, robustness, and energy efficiency. In particular, the possible increase of link speed by adequate motor excitation trajectories, such that the elastic transmission temporarily stores ...
Sami Haddadin +2 more
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Differential elastic actuator for robotic interaction tasks
2008 IEEE International Conference on Robotics and Automation, 2008For complex robotic tasks (e.g., manipulation, locomotion), the lack of knowledge of precise interaction models, the difficulties to precisely measure the task associated physical quantities (e.g., position of contact points, interaction forces) in real-time, the finite sampling time of digital control loops and the non-collocation of sensors and ...
Michel Lauria +3 more
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Series elastic actuator control of a powered exoskeleton
2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2011A motorized upper extremity orthosis based on the passive WREX system is being developed. The orthosis is a 4 dof arm controlled by user residual force inputs. The arm is intended for people with neuromuscular weakness due to muscular dystrophy or spinal muscular atrophy.
Daniel Ragonesi +3 more
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Survey of elastic actuator applications
SPIE Proceedings, 2002A new class of actuators has been developed over the last few years. The actuators use an elastic medium, often a structural grade of alloy metal, as the transducer and are therefore known as elastic actuators. They may be driven by a wide variety of devices ranging from manual micrometer heads to current waveform generators.
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Online calibration of a compact series elastic actuator
2014 American Control Conference, 2014We present a method for the online calibration of a compact series elastic actuator installed in a modular snake robot. Calibration is achieved by using the measured motor current of the actuator's highly geared motor and a simple linear model for the spring's estimated torque.
Steven Ford +3 more
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