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A monoped's jump height and energy consumption depend on both, its mechanical design and control strategy. Existing co-design frameworks typically optimize for either maximum height or minimum energy, neglecting their trade-off. They also…
The paper presents the application of a new impulse excitation diagram (IED) to help realize high-energy orbits in nonlinear energy harvesting systems. In the case of non-linearity, we can deal with the occurrence of coexisting solutions…
The power electronic interface to a vibration energy harvester not only provides ac-dc conversion, but can also set the electrical damping to maximize output power under displacement-constrained operation. This is commonly exploited for…
In legged locomotion, the relationship between different gait behaviors and energy consumption must consider the full-body dynamics and the robot control as a whole, which cannot be captured by simple models. This work studies the robot…
Ambient energy harvesting has been in recent years the recurring object of a number of research efforts aimed at providing an autonomous solution to the powering of small-scale electronic mobile devices. Among the different solutions,…
This paper is dedicated to the development of a novel adaptive torsion spring mechanism for optimizing energy consumption in legged robots. By adjusting the equilibrium position and stiffness of the spring, the system improves energy…
In this paper, a novel electret-based capacitive energy harvesting device has been developed according to out-of-plane gap closing scheme. The device is composed of a micro cantilever and a substrate which form a variable capacitor and is…
This paper presents an optimized silicon-MEMS electromagnetic vibration energy harvester suitable for applications such as machine health monitoring. The harvester comprises a DRIE-etched silicon suspension, and pick-and-place N42 NdBFe…
In this letter, we propose a practical non-linear energy harvesting model and design a resource allocation algorithm for simultaneous wireless information and power transfer (SWIPT) systems. The algorithm design is formulated as a…
Vortex-induced vibrations (VIV) of flexible cables are an example of flow-induced vibrations that can act as energy harvesting systems by converting energy associated with the spontaneous cable motion into electricity. This work…
The motion of a forced vibro-impacting inclined energy harvester is investigated in parameter regimes with asymmetry in the number of impacts on the bottom and top of the device. This motion occurs beyond a grazing bifurcation, at which…
It is important to understand how bipedal walkers balance and walk effectively on granular materials, such as sand and loose dirt, etc. This paper first presents a computational approach to obtain the motion and energy analysis of bipedal…
This study presents the simulation, experimentation, and design considerations of a Poly(vinylidene fluoride co-trifluoroethylene)/ Polyethylene Terephthalate (PVDF-TrFe / PET), laser-cut, flexible piezoelectric energy harvester. It is…
Thermoelectric metamaterials featuring width modulation through constrictions (constricted geometries) have emerged as a promising approach for improving heat management and thermoelectric performance. Through a combination of theoretical…
The full architecture of an electrostatic kinetic energy harvester (KEH) based on the concept of near-limits KEH is reported. This concept refers to the conversion of kinetic energy to electric energy, from environmental vibrations of…
The development of energy harvesting systems based on fluid/structure interactions is part of the global search for innovative tools to produce renewable energy. In this paper, the possibility to harvest energy from a flow using…
Simplified models are useful to increase the computational efficiency of a motion planning algorithm, but their lack of accuracy have to be managed. We propose two feasibility constraints to be included in a Single Rigid Body Dynamicsbased…
The accurate modelling and simulation of electric devices involving ferromagnetic materials requires the appropriate consideration of magnetic hysteresis. We discuss the systematic incorporation of the energy-based vector hysteresis model…
We present the design and implementation of HASTA (Hopper with Adjustable Stiffness for Terrain Adaptation), a vertical hopping robot with real-time tunable leg stiffness, aimed at optimizing energy efficiency across various ground profiles…
In this paper, we design an optimal sensor collaboration strategy among neighboring nodes while tracking a time-varying parameter using wireless sensor networks in the presence of imperfect communication channels. The sensor network is…