相关论文: Minimizing Energy Consumption and Peak Power of Se…
Design of robotic systems that safely and efficiently operate in uncertain operational conditions, such as rehabilitation and physical assistance robots, remains an important challenge in the field. Current methods for the design of energy…
A spring in parallel with an effort source (e.g., electric motor or human muscle) can reduce its energy consumption and effort (i.e., torque or force) depending on the spring stiffness, spring preload, and actuation task. However, selecting…
A major field of industrial robot applications deals with repetitive tasks that alternate between operating points. For these so-called pick-and-place operations, parallel kinematic manipulators (PKM) are frequently employed. These tasks…
We propose and develop an electrical and mechanical system model of a single-axis linear-motion kinetic energy harvester for impulsive excitation that allows its generated load power to be numerically optimised as a function of design…
This paper introduces a novel design method that enhances the force/torque, bendability, and controllability of soft pneumatic actuators (SPAs). The complex structure of the soft actuator is simplified by approximating it as a cantilever…
Parallel-elastic joints can improve the efficiency and strength of robots by assisting the actuators with additional torques. For these benefits to be realized, a spring needs to be carefully designed. However, designing robots is an…
Elastic actuation taps into elastic elements' energy storage for dynamic motions beyond rigid actuation. While Series Elastic Actuators (SEA) and Variable Stiffness Actuators (VSA) are highly sophisticated, they do not fully provide control…
The use of the Series Elastic Actuator (SEA) system as an actuator system equipped with a compliant element has contributed not only to advances in human interacting robots but also to a wide range of improvements in the robotics area.…
This paper demonstrates the computational design of soft elastomeric pneumatic actuators using nonlinear topology optimization. An existing density- and porohyperelasticity-based topology optimization framework was extended from 2D to 3D…
Series elastic robots are best able to follow trajectories which obey the limitations of their actuators, since they cannot instantly change their joint forces. In fact, the performance of series elastic actuators can surpass that of ideal…
Planar electromagnetic actuators based on the principle of linear motors are widely employed for micro and nano positioning applications. These actuators usually employ a planar magnetic platform driven by a co-planar electromagnetic coil.…
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…
When humans physically interact with robots, we need the robots to be both safe and performant. Series elastic actuators (SEAs) fundamentally advance safety by introducing compliant actuation. On the one hand, adding a spring mitigates the…
In this paper, we present an adjustable-equilibrium parallel elastic actuator (AE-PEA). The actuator consists of a motor, an equilibrium adjusting mechanism, and a spring arranged into a cylindrical geometry, similar to a motor-gearbox…
Inverse design of morphing slender structures with programmable curvature has significant applications in various engineering fields. Most existing studies formulate it as an optimization problem, which requires repeatedly solving the…
Convex relaxations of the AC power flow equations have attracted significant interest in the power systems research community in recent years. The following collection of video lectures provides a brief introduction to the mathematics of AC…
Architected materials that exploit buckling instabilities to reversibly trap energy have been shown to be effective for impact protection. The energy-absorbing capabilities of these architected materials can be enhanced further by…
Despite strong connections through shared application areas, research efforts on power market optimization (e.g., unit commitment) and power network optimization (e.g., optimal power flow) remain largely independent. A notable illustration…
Minimising the energy consumption associated with periodic motion is a priority common to a wide range of technologies and organisms - among them, many species of flying insect, for which flapping-wing flight is a life-essential mode of…
Though the convex optimization has been widely used in power systems, it still cannot guarantee to yield a tight (accurate) solution to some problems. To mitigate this issue, this paper proposes an ensemble learning based convex…