Results 31 to 40 of about 36,808 (296)
Design and Dynamic Modeling of Variable Stiffness Joint Actuator Based on Archimedes Spiral
IEEE Access, 2018 Traditional rigid actuators are not applicable to robot applications involving explosive actions. Solutions suggested by previous studies have mainly focused on the concept of stiffness variation, its design and verification, and the explosive actions of
Wei Wang, Yanwei Zhao, Yangmin Li
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International Journal of Advanced Robotic Systems, 2020 In this article, a novel robust tracking control scheme based on linear extended state observer with estimation error compensation is proposed for the tracking control of the antagonistic variable stiffness actuator based on equivalent nonlinear torsion ...
Jishu Guo, Junmei Guo, Zhongjun Xiao
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Recursive Least Squares Filtering Algorithms for On-Line Viscoelastic Characterization of Biosamples [PDF]
, 2018 The mechanical characterization of biological samples is a fundamental issue in biology and related fields, such as tissue and cell mechanics, regenerative medicine and diagnosis of diseases.
Aceto, Maria +3 more
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Weight Lifting Trajectory Optimization for Variable Stiffness Actuated Robot
Complexity, 2019 Variable stiffness actuator is a new actuation of robot which is inspired by motor control of human arm. And it is promising way to exploit the human-like performance and human-like motion.
Chen Ji, Minxiu Kong, Ruifeng Li
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Human-like Walking with Compliant Legs [PDF]
, 2011 This work presents a novel approach to robotic bipedal walking. Based on the bipedal spring-mass model, which is known to closely describe human-like walking behavior, a robot has been designed that approaches the ideal model as closely as possible.
Carloni, Raffaella +3 more
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Mechanical Simplification of Variable-Stiffness Actuators Using Dielectric Elastomer Transducers
Actuators, 2019 Legged and gait-assistance robots can walk more efficiently if their actuators are compliant. The adjustable compliance of variable-stiffness actuators (VSAs) can enhance this benefit. However, this functionality requires additional mechanical components
David P. Allen +4 more
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Mathematics, 2023 The study of position control for variable stiffness actuators is important for improving their energy efficiency and robustness. In this paper, for the previously proposed nonlinear variable stiffness actuator, firstly, a dynamic model of the variable ...
Zemin Yang +4 more
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Parameters Identification for a Composite Piezoelectric Actuator Dynamics [PDF]
, 2015 This work presents an approach for identifying the model of a composite piezoelectric (PZT) bimorph actuator dynamics, with the objective of creating a robust model that can be used under various operating conditions.
Saadeh, Mohammad, Trabia, Mohamed
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Space Frames with Multiple Stable Configurations [PDF]
, 2007 This paper is concerned with beamlike spaceframes that include a large number of bistable elements, and exploit the bistability of the elements to obtain structures with multiple stable configurations.
Pellegrino, S., Schioler, T.
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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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