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SIMPAR
2010
150views Robotics» more  SIMPAR 2010»
10 years 29 days ago
Compliant Robot Actuation by Feedforward Controlled Emulated Spring Stiffness
Abstract. Existing legged robots lack energy-efficiency, performance and adaptivity when confronted with situations that animals cope with on a routine basis. Bridging the gap bet...
Katayon Radkhah, Stefan Kurowski, Thomas Lens, Osk...
AUTOMATICA
2004
83views more  AUTOMATICA 2004»
10 years 2 months ago
Extremum seeking control for soft landing of an electromechanical valve actuator
Many electromagnetic actuators suffer from high velocity impacts. One such actuator is the electromechanical valve actuator, recently receiving attention for enabling variable val...
Katherine S. Peterson, Anna G. Stefanopoulou
AUTOMATICA
2005
92views more  AUTOMATICA 2005»
10 years 2 months ago
Resolving actuator redundancy - optimal control vs. control allocation
This paper considers actuator redundancy management for a class of overactuated nonlinear systems. Two tools for distributing the control effort among a redundant set of actuators...
Ola Härkegård, Torkel Glad
IJRR
2007
113views more  IJRR 2007»
10 years 2 months ago
Broadcast Feedback of Stochastic Cellular Actuators Inspired by Biological Muscle Control
— This paper presents a broadcast feedback approach to the distributed stochastic control of an actuator system consisting of many cellular units. This control architecture was i...
Jun Ueda, Lael Odhner, H. Harry Asada
AMC
2006
75views more  AMC 2006»
10 years 2 months ago
Common stabilizers for linear control systems in the presence of actuators outage
This paper presents common stabilizers for linear control systems when actuators happen to fail. The possible outage of actuators examined in this study are not confined to a pre-s...
Yew-Wen Liang, Der-Cherng Liaw
ISER
1991
Springer
192views Robotics» more  ISER 1991»
10 years 6 months ago
System Identification and Modelling of A High Performance Hydraulic Actuator
Detailed knowledge of actuator properties is a prerequisite for advanced manipulator design and control. This paper deals with the experimental identification and modelling of the...
Benoit Boulet, Laeeque Daneshmend, Vincent Hayward...
ISER
1995
Springer
131views Robotics» more  ISER 1995»
10 years 6 months ago
Stiffness Isn't Everything
Most robot designers make the mechanical interface between an actuator and its load as stiff as possible[9][10]. This makes sense in traditional position-controlled systems, becau...
Gill A. Pratt, Matthew M. Williamson, Peter Dilwor...
ICRA
2000
IEEE
83views Robotics» more  ICRA 2000»
10 years 7 months ago
Force Controllable Hydro-Elastic Actuator
— We 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 to g...
David W. Robinson, Gill A. Pratt
IROS
2008
IEEE
158views Robotics» more  IROS 2008»
10 years 9 months ago
Silicone made contractile dielectric elastomer actuators inside 3-Tesla MRI environment
—New actuators are greatly demanded today in order to develop magnetic resonance imaging (MRI)compatible mechatronic systems capable of extended and improved capabilities. They a...
Federico Carpi, Azadeh Khanicheh, Constantinos Mav...
IROS
2009
IEEE
186views Robotics» more  IROS 2009»
10 years 9 months ago
Stochastic static analysis of link driven by actuator bundles
— This paper describes a stochastic static analysis of link angle driven by actuator bundles. We first demonstrate a movement of a link driven by actuator bundles in terms of hi...
Takahiro Yoshimura, Mizuho Shibata, Shinichi Hirai
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