相关论文: Non-linear model and optimization method for a sin…

While it is expected to build robotic limbs with multiple degrees of freedom (DoF) inspired by nature, a single DoF design remains fundamental, providing benefits that include, but are not limited to, simplicity, robustness,…

The heavy-load legged robot has strong load carrying capacity and can adapt to various unstructured terrains. But the large weight results in higher requirements for motion stability and environmental perception ability. In order to utilize…

This work aims to enable persistent, event-driven sensing and decision capabilities for energy-harvesting (EH)-powered devices by deploying lightweight DNNs onto EH-powered devices. However, harvested energy is usually weak and…

This paper studies an online algorithm for an energy harvesting transmitter, where the transmission (completion) time is considered as the system performance. Unlike the existing online algorithms which more or less require the knowledge on…

Ultra-low-density elastomeric foams enable lightweight systems that combine high compliance with efficient energy return. In high-performance racing shoes, these foams are critical for low weight, high cushioning, and efficient energy…

Simultaneous vibration control and energy harvesting of vehicle suspensions has attracted great research interests over the past decades. However, existing frameworks tradeoff suspension performance for energy recovery and are only…

Performance-based optimization of energy dissipation devices in structures necessitates massive and repetitive dynamic analyses. In the endurance time method known as a rather fast dynamic analysis procedure, structures are subjected to…

While existing literature encompasses exoskeleton-assisted sit-stand tasks, the integration of energy recovery mechanisms remains unexplored. To push these boundaries further, this study introduces a portable pneumatic knee exoskeleton that…

Conventional systems for motion context detection rely on batteries to provide the energy required for sampling a motion sensor. Batteries, however, have limited capacity and, once depleted, have to be replaced or recharged. Kinetic Energy…

Existing research has yet to reach a consensus on whether and how small flying animals utilize elastic energy storage mechanisms to reduce flight energy expenditure, and there is a lack of systematic and universal methods for assessment. To…

We study the problem of optimizing the performance of a nonlinear spring-mass-damper attached to a class of multiple-degree-of-freedom systems. We aim to maximize the rate of one-way energy transfer from primary system to the attachment,…

Bundling a large number of distributed energy resources through a load aggregator has been advocated as an effective means to integrate such resources into whole-sale energy markets. To ease market clearing, system operators allow…

We study energy harvesting (EH) transmitter and receiver, where the receiver decodes data using the harvested energy from the nature and from an independent EH node, named helper. Helper cooperates with the receiver by transferring its…

The current battery-powered fault detection system for vibration monitoring has a rather limited lifetime. This is because the high-frequency sampling (typically tens of kilo-Hertz) required for vibration monitoring results in high energy…

In this work, we show that a recently proposed method for experimental nonlinear modal analysis based on the extended periodic motion concept is well suited to extract modal properties for strongly nonlinear systems (i.e. in the presence of…

We consider a sensing application where the sensor nodes are wirelessly powered by an energy beacon. We focus on the problem of jointly optimizing the energy allocation of the energy beacon to different sensors and the data transmission…

Quadruped robots are often designed with rigid feet to simplify control and maintain stable contact during locomotion. While this approach is straightforward, it limits the ability of the legs to absorb impact forces and reuse stored…

The modeling and simulation of coupled neuromusculoskeletal-exoskeletal systems play a crucial role in human biomechanical analysis, as well as in the design and control of exoskeletons. However, conventional dynamic simulation frameworks…

This work presents a computationally lightweight motion planner for over-actuated platforms. For this purpose, a general state-space model for mobile platforms with several kinematic chains is defined, which considers non-linearities and…

Model Predictive Control (MPC) approaches are widely used in robotics, since they guarantee feasibility and allow the computation of updated trajectories while the robot is moving. They generally require heuristic references for the…