Results 41 to 50 of about 36,677 (300)
Stiffness Estimation and Nonlinear Control of Robots with Variable Stiffness Actuation [PDF]
IFAC Proceedings Volumes, 2011 Abstract We consider the problem of estimating on line the nonlinear stiffness of flexible transmissions in robots with variable stiffness actuation in agonistic-antagonistic configuration. Stiffness estimation is obtained using a dynamic residual that provides a filtered version of the unmeasured flexibility torques, combining it with a recursive ...
DE LUCA, Alessandro, FLACCO, FABRIZIO
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Detachable Soft Actuators with Tunable Stiffness Based on Wire Jamming
Applied Sciences, 2022 The integration of variable stiffness materials and structures into soft robots is a popular trend, allowing soft robots to switch between soft and rigid states in different situations.
Long Bai +4 more
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Concept, modeling, and performance prediction of a low-cost, large deformable mirror [PDF]
, 2012 While it is attractive to integrate a deformable mirror (DM) for adaptive optics (AO) into the telescope itself rather than using relay optics within an instrument, the resulting large DM can be expensive, particularly for extremely large telescopes.
Andersen, Torben +3 more
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Research on a Variable-Stiffness Joint and Its Application in Actuators
Actuators, 2023 Variable-stiffness actuators can flexibly adjust the overall or local stiffness of a structure, thus enabling reconstruction, adaptation, and locking capabilities that can meet a wide range of task requirements.
Qi Wang +4 more
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, 2009 The energetic optimization problem, e.g., searching for the optimal switch- ing protocol of certain system parameters to minimize the input work, has been extensively studied by stochastic thermodynamics.
Gong, Linchen +2 more
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Compact Variable Stiffness Actuator for Surgical Robots
Journal of Robotics and Mechatronics, 2022 Highly rigid surgical robots are capable of precise positioning; however, there is a risk of injury to the surrounding organs owing to undesired contact. To solve this problem, surgeons can change their stiffness according to the desired motion by contracting and relaxing the muscles. Therefore, surgical robots that can change their stiffness according
Toshiro Osaka +4 more
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Optimization strategy for actuator and sensor placement in active structural acoustic control [PDF]
, 2002 In active structural acoustic control the goal is to reduce the sound radiation of a structure by means of changing the vibrational behaviour of that structure.
Boer, André de +1 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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Quarter car active suspension system design using optimal and robust control method [PDF]
, 2020 This paper offers with the theoretical and computational evaluation of optimal& robust controlproblems, with the goal of providing answers to them with MATLAB simulation.For the robust control, -synthesis controller and for the ...
Jibril, Mustefa
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Constraint-based equilibrium and stiffness control of variable stiffness actuators [PDF]
2011 IEEE International Conference on Robotics and Automation, 2011 Considerable research effort has gone into the design of variable passive stiffness actuators (VSAs). A number of different mechanical designs have been proposed, aimed at either a biomorphic (i.e., antagonistic) design, compactness, or simplified modelling and control.
Howard, Matthew +2 more
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