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Parametric variability is inevitable in actual energy harvesters. It can significantly affect crucial aspects of the system performance, especially in harvesting systems that present geometric parameters, material properties, or excitation…
In this paper, we propose a method for selecting the optimal footholds for legged systems. The goal of the proposed method is to find the best foothold for the swing leg on a local elevation map. We apply the Convolutional Neural Network to…
Non-linear dynamical systems represent a compact, flexible, and robust tool for reactive motion generation. The effectiveness of dynamical systems relies on their ability to accurately represent stable motions. Several approaches have been…
Aeroelastic phenomena are gaining significant attention from the perspective of energy harvesting (EH) with promising applications in supplying low-power remote sensors. Besides the development of individual EH devices, further issues are…
Legged locomotion is commonly studied and expressed as a discrete set of gait patterns, like walk, trot, gallop, which are usually treated as given and pre-programmed in legged robots for efficient locomotion at different speeds. However,…
The problem of energy harvesting from flutter instabilities in flexible slender structures in axial flows is considered. In a recent study, we used a reduced order theoretical model of such a system to demonstrate the feasibility for…
Narrow bandwidth and easy detuning, inefficiency in broadband and non-stationary excitations, and difficulties in matching linear harvester's resonance frequency to low-frequency excitations at small scales, have convinced the researchers…
Under temperature oscillation, cyclic molecular machines such as catalysts and enzymes could harness energy from the oscillatory bath and use it to drive other processes. Using a novel geometrical approach, under fast temperature…
The energy harvesting performance of a pair of oscillating hydrofoil turbines in tandem configuration is experimentally studied to determine the optimal kinematics of the array. By characterizing interactions between the wake produced by…
In this paper, we study multiple-input multiple-output (MIMO) wireless power transfer (WPT) systems, where the energy harvester (EH) node is equipped with multiple nonlinear rectennas. We characterize the optimal transmit strategy by the…
Harvesting energy from ambient vibration is proposed as an alternative to storage based power supplies for autonomous systems. The system presented converts the mechanical energy of a vibration into electrical energy by means of a variable…
The biomechanical energy harvester is expected to harvest the electric energies from human motions. A tradeoff between harvesting energy and keeping the user's natural movements should be balanced via optimization techniques. In previous…
In this paper, we determine the harvested power region of a two-user multiple-input single-output (MISO) wireless power transfer (WPT) system for a non-linear model of the rectennas at the energy harvester (EH) nodes. To this end, we…
Wearable and legged robot designers face multiple challenges when choosing actuation. Traditional fully actuated designs using electric motors are multifunctional but oversized and inefficient for bearing conservative loads and for being…
Energy neutral operation of WSNs can be achieved by exploiting the idleness of the workload to bring the average power consumption of each node below the harvesting power available. This paper proposes a combination of state-of-the-art…
Prior studies have produced models to predict metabolic rates based on experimental observations of isolated muscle contraction from various species. Such models can provide reliable predictions of metabolic rates in humans if muscle…
This work is devoted to demonstration of the analysis on optimizing the output power harvested from vibration energy harvester.
In the fields of robotics and biomechanics, the integration of elastic elements such as springs and tendons in legged systems has long been recognized for enabling energy-efficient locomotion. Yet, a significant challenge persists:…
The performance of a ring of linearly coupled, monostable nonlinear oscillators is optimized towards its goal of acting as energy harvester---through piezoelectric transduction---of mesoscopic fluctuations, which are modeled as…
We study a rain-powered energy-harvesting device inspired by the natural impact of raindrops on leaves. In nature, a raindrop striking a leaf at high speed causes it to deform and vibrate. Inspired by this, our device uses an elastic beam…