Related papers: Design of a Parallel Elastic Actuator with a Conti…
The subject of this paper is the design of a new concept of modular parallel mechanisms for three, four or five-axis machining applications. Most parallel mechanisms are designed for three- or six-axis machining applications. In the last…
In the last few years there have been important advancements in generative models with the two dominant approaches being Generative Adversarial Networks (GANs) and Variational Autoencoders (VAEs). However, standard Autoencoders (AEs) and…
Compliance in actuation has been exploited to generate highly dynamic maneuvers such as throwing that take advantage of the potential energy stored in joint springs. However, the energy storage and release could not be well-timed yet. On…
In this paper, we introduce a kinodynamic model predictive control (MPC) framework that exploits unidirectional parallel springs (UPS) to improve the energy efficiency of dynamic legged robots. The proposed method employs a hierarchical…
Robotic trajectory planning in dynamic and cluttered environments remains a critical challenge, particularly when striving for both time efficiency and motion smoothness under actuation constraints. Traditional path planner, such as…
This paper introduces ByteWrist, a novel highly-flexible and anthropomorphic parallel wrist for robotic manipulation. ByteWrist addresses the critical limitations of existing serial and parallel wrists in narrow-space operations through a…
In previous papers we have introduced a sufficient condition for uniform attractivity of the origin for a class of nonlinear time-varying systems which is stated in terms of persistency of excitation (PE), a concept well known in the…
To enlarge the translational workspace of cable-driven robots, one common approach is to increase the number of cables. However, this introduces two challenges: (1) cable interference significantly reduces the rotational workspace, and (2)…
An appropriately parameterized compact analytical equation (APAE) is suggested to account for charge carrier mobility in organic disordered semiconductors (ODSs). This equation correctly reproduces the effects of temperature $T$, carrier…
Parallel search algorithms have been shown to improve planning speed by harnessing the multithreading capability of modern processors. One such algorithm PA*SE achieves this by parallelizing state expansions, whereas another algorithm…
We redefine the transition function of elementary cellular automata (ECA) in terms of discrete operators. The operator representation provides a clear hint about the way systems behave both at the local and the global scale. We show that…
In nature, limbless locomotion is adopted by a wide range of organisms at various length scales. Interestingly, undulatory, crawling and inching/looping gait constitutes a fundamental class of limbless locomotion and is often observed in…
An elliptic relative equilibrium (ERE) is a special solution of the planar $N$-body problem generated by a central configuration. Its linear stability depends on the eccentricity $e$ and the masses of the bodies. However, for $e>0$, the…
Impedance control and specifically stiffness control are widely applied for physical human-robot interaction. The series elastic actuator (SEA) provides inherent compliance, safety and further benefits. This paper aims to improve the…
We describe a fluidic actuator design that replaces the sealed chamber of a hydraulic cylinder using a soft actuator to provide compliant linear compression with a large force ($\geq$100 N) at a low operation pressure ($\leq$50 kPa) for a…
This paper addresses design, modeling and dynamic-compensation PID (dc-PID) control of a novel type of fully-actuated aerial manipulation (AM) system. Firstly, design of novel mechanical structure of the AM is presented. Secondly,…
Damping devices are necessary for suppressing the undesired coil motions in the watt/joule balance. In this paper, an active electromagnetic damping device, located outside the main magnet, is introduced in the joule balance project. The…
This paper presents a multifunctional connector based on electro-permanent magnet (EPM) technology, integrating self-alignment, mechanical coupling, fluid transfer, and data communication within a compact SLA-3D printed structure.…
Humanoid robots may require a degree of compliance at the joint level for improving efficiency, shock tolerance, and safe interaction with humans. The presence of joint elasticity, however, complexifies the design of balancing and walking…
In the last few decades, several novel algorithms have been designed for finding critical points on PES and the minimum energy paths connecting them. This has led to considerably improve our understanding of reaction mechanisms and kinetics…