相关论文: Investigations of a Robotic Testbed with Viscoelas…
This paper describes the control, and evaluation of a new human-scaled biped robot with liquid cooled viscoelastic actuators (VLCA). Based on the lessons learned from previous work from our team on VLCA [1], we present a new system design…
This paper expounds the design and control of a new Variable Stiffness Series Elastic Actuator (VSSEA). It is established by employing a modular mechanical design approach that allows us to effectively optimise the stiffness modulation…
The legged robots with variable stiffness actuators (VSAs) can achieve energy-efficient and versatile locomotion. However, equipping legged robots with VSAs in real-world application is usually restricted by (i) the redundant mechanical…
Series Elastic Actuators provide many benefits in force control of robots in unconstrained environments. These benefits include high force fidelity, extremely low impedance, low friction, and good force control bandwidth. Series Elastic…
The McKibben pneumatic artificial muscle is a commonly studied soft robotic actuator, and its quasistatic force-length properties have been well characterized and modeled. However, its damping and force-velocity properties are less well…
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…
The rapid advancement of generative AI and multi-modal foundation models has shown significant potential in advancing robotic manipulation. Vision-language-action (VLA) models, in particular, have emerged as a promising approach for…
Handed Shearing Auxetics (HSA) are a promising structure for making electrically driven robots with distributed compliance that convert a motors rotation and torque into extension and force. We overcame past limitations on the range of…
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…
Impressive animal locomotion capabilities are mediated by the co-evolution of the skeletal morphology and muscular properties. Legged robot performance would also likely benefit from the co-optimization of actuators and leg morphology.…
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…
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…
Compared to traditional rigid robotics, soft robotics has attracted increasing attention due to its advantages as compliance, safety, and low cost. As an essential part of soft robotics, the soft robotic gripper also shows its superior…
Controlling the physical interaction with the environment or objects, as humans do, is a shared requirement across different types of robots. To effectively control this interaction, it is necessary to control the power delivered to the…
Robotic legs have bimodal operations: swing phases when the leg needs to move quickly in the air (high-speed, low-force) and stance phases when the leg bears the weight of the system (low-speed, high-force). Sizing a traditional…
Soft sleeve actuators (SSAs) have recently been developed as a pneumatic actuation approach for wearable and assistive robotic systems. By integrating the actuation structure into a sleeve-like geometry, these actuators can reduce reliance…
This document contains two presentations which describe the working principles of a class of electrostatic multidimensional sensors and force actuators. The subject of the study is the search of the most effective methods for measuring the…
Short lifetime under high electrical fields hinders the widespread robotic application of linear dielectric elastomer actuators (DEAs). Systematic scanning is difficult due to time-consuming per-sample testing and the high-dimensional…
To rationalize the relatively high investment that industrial automation systems entail, research in the field of intelligent machines should target high value functions such as fettling, die-finishing, deburring, and fixtureless…
Robot actuators directly affect the performance of robots, and robot drives directly affect the performance of robot actuators. With the development of robotics, robots have put higher requirements on robot drives, such as high stiffness,…