相关论文: Design of a Parallel Elastic Actuator with a Conti…

To reproduce natural standing-up motion, recent studies have emphasized the importance of coordination between the assisting robot and the human. However, many non-wearable assistive devices have struggled to replicate natural motion…

The purpose of this work is to design a state feedback controller using Parametric Eigenstructure Assignment (PAE) technique that has the capacity to be reconfigured in the case that partial actuator faults occur. The proposed controller is…

This paper proposes a unified robust motion controller for the position and force control problems of compliant robot manipulators driven by Series Elastic Actuators (SEAs). It is shown that the dynamic model of the compliant robot includes…

Mobile manipulators are known for their superior mobility over manipulators on fixed bases, offering promising applications in smart industry and housekeeping scenarios. The dynamic coupling nature between the mobile base and the…

Robots need lightweight legs for agile locomotion, and intrinsic series elastic compliance has proven to be a major ingredient for energy-efficient locomotion and robust locomotion control. Animals' anatomy and locomotion capabilities…

This paper deals with a new planar parallel mechanism with variable actuation and its kinetostatic performance. A drawback of parallel mechanisms is the non homogeneity of kinetostatic performance within their workspace. The common approach…

Parallel robots based on Handed Shearing Auxetics (HSAs) can implement complex motions using standard electric motors while maintaining the complete softness of the structure, thanks to specifically designed architected metamaterials.…

A fundamental and intrinsic property of any device or natural system is its relaxation time relax, which is the time it takes to return to equilibrium after the sudden change of a control parameter [1]. Reducing $tau$ relax , is frequently…

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…

In robotic applications, actuators are typically designed to be stiff with minimal backlash to ensure precision and repeatability. However, this limits compliance, leading to potential damage and poor force control in uncertain…

In order to fully harness the potential of dielectric elastomer actu-ators (DEAs) in soft robots, advanced control methods are need-ed. An important groundwork for this is the development of a control-oriented model that can adequately…

Soft electrohydraulic actuators known as HASEL actuators have attracted widespread research interest due to their outstanding dynamic performance and high output power. However, the displacement of electrohydraulic actuators usually…

This paper deals with the robust force and position control problems of Series Elastic Actuators. It is shown that a Series Elastic Actuator's force control problem can be described by a second-order dynamic model which suffers from only…

Stroke-induced motor impairment often results in substantial loss of upper-limb function, creating a strong demand for rehabilitation robots that enable safe and transparent physical human-robot interaction (pHRI). Variable stiffness…

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…

This paper presents an interaction control algorithm for a dielectric elastomer membrane actuator. The proposed method permits efficient exploitation of the controllable stiffness of the material, allowing to use the membrane as a…

Robotic manipulators capable of regulating both compliance and stiffness offer enhanced operational safety and versatility. Here, we introduce Worm Gear-based Adaptive Variable Elasticity (WAVE), a variable stiffness actuator (VSA) that…

This paper proposes a new type of actuator at millimeter scale, which is based on Simplified Electro-Permanent (SEP) magnets. The new actuator can achieve connection and smooth motion by controlling the polarity of SEP magnets. Analyses…

Modular robots offer reconfigurability and fault tolerance essential for lunar missions, but require controllers that adapt safely to real-world disturbances. We build on our previous hardware-agnostic actuator synchronization in Motion…

This work introduces new results in continuous-time reinforcement learning (CT-RL) control of affine nonlinear systems to address a major algorithmic challenge due to a lack of persistence of excitation (PE). This PE design limitation has…