Results 31 to 40 of about 4,624 (156)
Trajectory optimization for walking robots with series elastic actuators [PDF]
53rd IEEE Conference on Decision and Control, 2014 Series elastic actuators are a promising feature for future walking robots. Utilizing the natural oscillation of the elastic actuation can lead to efficient locomotion. However finding a matching combination of joint stiffness and actuator input is challenging as these robots share the properties of underactuated and hybrid dynamic systems.
Alexander Werner +2 more
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Design and control of an MRI compatible series elastic actuator [PDF]
2016 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2016 Bidirectional compatibility requirements with Magnetic Resonance Imaging (MRI) have limited the adaptation of rehabilitation robots for use in MRI machines. In this paper, we present the design and control of a Bowden cable-actuated, MRI-compatible series elastic actuator (SEA) that aims to fulfil the bidirectional compatibility requirements to the ...
Yusuf Mert Senturk, Volkan Patoglu
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Forced Servoing of a Series Elastic Actuator Based on Link-Side Acceleration Measurement
Actuators, 2023 Joint stiffness of an elastic-joint robot can be changed according to joint stiffness requirements. A series elastic actuator (SEA) can reduce the contact stiffness between the body and the environment or human, which can further ensure interactive ...
Zhuo Wang +4 more
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Characterization of Control-Dependent Variable Stiffness Behavior in Discrete Muscle-Like Actuators
Applied Sciences, 2018 This paper presents the modeling, characterization and validation for a discrete muscle-like actuator system composed of individual on–off motor units with complex dynamics inherent to the architecture.
Caleb Fuller, Joshua Schultz
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State observer control for robotic series elastic actuators
Revista Colombiana de Tecnologías de AvanzadaThis implementation shows the results through a control state observer strategy for a series elastic actuator (SEA) of motorized robotic limbs, with the purpose of evaluate the disturbance response with regard to convetional PID controller.
Frank Nixon Giraldo Ramos
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Prismatic Series of Elastic Actuator: Modelling and Control by ICA and PSO-tuned Fractional Order PID [PDF]
International Journal of Advanced Design and Manufacturing Technology, 2015 : This paper presents dynamic modelling and control of a linear prismatic series of elastic actuator. The capability of generating large torques is why this actuator is increasingly used in human-assistive robotic systems. Due to having human in the loop,
Somayeh Norouzi Ghazbi +1 more
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Neural-Augmented Hybrid Dynamic Modeling of a Series-Parallel Elastic Actuator
IEEE AccessThis paper proposes a neural network-based model of a novel hybrid Series-Parallel Elastic Actuator (SEA-PEA) architecture for high-performance robotic applications.
Timur Umurzakov +2 more
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Design an Artificial Foot using Series Elastic Actuator [PDF]
International Journal of Advanced Design and Manufacturing Technology, 2014 : Investigating the mechanical behaviour of a healthy human ankle shows that it can be simulated by a mechanism composed of simple elements such as spring, and actuator.
Ali Moazemi goudarzi +3 more
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Environmental-Interaction Robotic Systems: Compliant Actuation Approach
International Journal of Advanced Robotic Systems, 2007 Many successful designs of compliant actuators have been recently proposed. However, the challenge of providing passive and active motion in one actuator has remained.
Reza Ghorbani, Qiong Wu
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Design and Dynamics Performance Simulation Analysis of a New Series Elastic Actuator
Jixie chuandong, 2023 In order to improve the motion performance of compliant robots, a rotary series elastic actuator (SEA) based on arc helical springs is designed. The proposed SEA can be used to provide a wide range of flexible torsion by the combination of multi-stage ...
Wang Caidong +6 more
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