Related papers: Effective Viscous Damping Enables Morphological Co…
Vibrational structures are susceptible to catastrophic failures or structural damages when external forces induce resonances or repeated unwanted oscillations. One common mitigation strategy is to use dampers to suppress these disturbances.…
We present the Duke Humanoid, an open-source 10-degrees-of-freedom humanoid, as an extensible platform for locomotion research. The design mimics human physiology, with symmetrical body alignment in the frontal plane to maintain static…
This paper develops a new quasi-static modeling framework for tracked robots based on the power dissipation method. Given a set of track speeds, this method predicts the vehicle's instantaneous rigid body motion. We introduce three specific…
The steady state motion of a folded pendulum has been studied using frequencies of drive that are mainly below the natural (resonance) frequency of the instrument. Although the free-decay of this mechanical oscillator appears textbook…
With the rapid development of the construction industry, issues such as harsh working environments, high-intensity and high-risk tasks, and labor shortages have become increasingly prominent. This drives higher demands for construction…
Commonly used linear and nonlinear constitutive material models in deformation simulation contain many simplifications and only cover a tiny part of possible material behavior. In this work we propose a framework for learning customized…
This study shows that typical pendulum dynamics is far from the simple equation of motion presented in textbooks. A reasonably complete damping model must use nonlinear terms in addition to the common linear viscous expression. In some…
Mechanically characterizing the human-machine interface is essential to understanding user behavior and optimizing wearable robot performance. This interface has been challenging to sensorize due to manufacturing complexity and non-linear…
Biological locomotion in nature is often achieved by the interaction between a flexible body and its surrounding medium. The interaction of a flexible body with granular media is less understood compared with viscous fluids partially due to…
We propose a mechanically simple and cheap design for a series elastic actuator with controllable stiffness. Such characteristics are necessary for animals for running, jumping, throwing, and manipulation, yet in robots, variable stiffness…
Robust closed-loop locomotion remains challenging for soft quadruped robots due to high-dimensional dynamics, actuator hysteresis, and difficult-to-model contact interactions, while conventional proprioception provides limited information…
We describe an experiment involving a mass oscillating in a viscous fluid and analyze viscous damping of harmonic motion. The mechanical oscillator is tracked using a simple webcam and an image processing algorithm records the position of…
The inadequacy of the classical viscous damping model in capturing dissipation across a wide range of applications has led to the development of non-viscous damping models. While non-viscous models describe damping force satisfactorily,…
Legged robots can outperform wheeled machines for most navigation tasks across unknown and rough terrains. For such tasks, visual feedback is a fundamental asset to provide robots with terrain-awareness. However, robust dynamic locomotion…
We introduce a new approach to deriving approximate analytical solutions of a harmonic oscillator damped by purely nonlinear, or combinations of linear and nonlinear damping forces. Our approach is based on choosing a suitable trial…
This paper introduces a novel compliant mechanism combining lightweight and energy dissipation for aerial physical interaction. Weighting 400~g at take-off, the mechanism is actuated in the forward body direction, enabling precise position…
Inspired by the embodied intelligence of biological creatures like the octopus, the soft robotic arm utilizes its highly flexible structure to perform various tasks in the complex environment. While the classic Cosserat rod theory…
Legged manipulators extend robotic capabilities beyond static manipulation by integrating agile locomotion with versatile arm control. However, achieving precise manipulation while maintaining coordinated locomotion remains a major…
In this paper the implementation of piezoelectrics to a state-of-the-art wafer gripper is investigated. The objective is to propose and validate a solution method, which includes a mechanical design and control system, to achieve at least…
Flapping-wing insects, birds, and robots are thought to offset the high power cost of oscillatory wing motion by using elastic elements for energy storage and return. Insects possess highly resilient elastic regions in their flight anatomy…