Related papers: Energy regenerative damping in variable impedance …
Increasing research efforts have been made to improve the energy efficiency of variable impedance actuators (VIAs) through reduction of energy consumption. However, the harvesting of dissipated energy in such systems remains underexplored.…
This study is part of research aiming at increasing the range of dynamic tasks for teleoperated field robotics in order to allow operators to use the full range of human motions without being limited by the dynamics of the robotic…
Compliant robotics have seen successful applications in energy efficient locomotion and cyclic manipulation. However, exploitation of variable physical impedance for energy efficient sequential movements has not been extensively addressed.…
Variable impedance actuators (VIAs) as tool devices for teleoperation could extend the range of tasks that humans can perform through a teleoperated robot by mimicking the change of upper limb stiffness that humans perform for different…
Legged robots offer several advantages when navigating unstructured environments, but they often fall short of the efficiency achieved by wheeled robots. One promising strategy to improve their energy economy is to leverage their natural…
An impedance-based control scheme is introduced for cooperative manipulators grasping a rigid load. The position and orientation of the load are to be maintained close to a desired trajectory, trading off tracking accuracy by low energy…
Wearable robots are limited by their actuators performances because they must bear the weight of their own power system and energy source. This paper explores the idea of leveraging hybrid modes to meet multiple operating points with a…
In intelligent manufacturing, robots are asked to dynamically adapt their behaviours without reducing productivity. Human teaching, where an operator physically interacts with the robot to demonstrate a new task, is a promising strategy to…
We prove that aerodynamic co-contraction in a redundant dual-rotor actuator can tune a passive, trim-defined aero-mechanical damping while keeping the commanded net force constant. In particular, we define an incremental damping coefficient…
A fixed time-step variational integrator cannot preserve momentum, energy, and symplectic form simultaneously for nonintegrable systems. This barrier can be overcome by treating time as a discrete dynamic variable and deriving adaptive…
The goal of this paper is to develop energy-preserving variational integrators for time-dependent mechanical systems with forcing. We first present the Lagrange-d'Alembert principle in the extended Lagrangian mechanics framework and derive…
Increased penetration of inverter-connected renewable energy sources (RES) in the power system has resulted in a decrease in available rotational inertia which serves as an immediate response to frequency deviation due to disturbances. The…
Power electronic devices such as HVDC and FACTS can be used to improve the damping of poorly damped inter-area modes in large power systems. This involves the use of wide-area feedback signals, which are transmitted via communication…
Muscle models and animal observations suggest that physical damping is beneficial for stabilization. Still, only a few implementations of mechanical damping exist in compliant robotic legged locomotion. It remains unclear how physical…
Stroke-induced motor impairment often results in substantial loss of upper-limb function, creating a strong demand for rehabilitation robots that enable safe and transparent physical human-robot interaction (pHRI). Variable stiffness…
This paper proposes a new probabilistic energy-based method to determine the optimal installation location of electronically-interfaced resources (EIRs) considering dynamic reinforcement under wind variability in systems with high…
Robots are increasingly being deployed not only in workplaces but also in households. Effectively execute of manipulation tasks by robots relies on variable impedance control with contact forces. Furthermore, robots should possess adaptive…
The rapid integration of inverter-based resources (IBRs) into power systems has identified frequency security challenges due to reduced inertia and increased load volatility. This paper proposes a robust power reserve decision-making…
Dynamic voltage scaling (DVS) is one of the most effective techniques for reducing energy consumption in embedded and real-time systems. However, traditional DVS algorithms have inherent limitations on their capability in energy saving…
This paper represents a novel regenerative braking approach for the Electric Vehicles. The proposed method solves the short-range problem which is corresponding to the charge of the battery pack. The DTC switching algorithm has been…