相关论文: Extending the Benefits of Parallel Elasticity acro…
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…
Compared to rigid actuators, Series Elastic Actuators (SEAs) offer a potential reduction of motor energy consumption and peak power, though these benefits are highly dependent on the design of the torque-elongation profile of the elastic…
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…
Robotic Hopping is challenging from the perspective of both modeling the dynamics as well as the mechanical design due to the short period of ground contact in which to actuate on the world. Previous work has demonstrated stable hopping on…
This paper is dedicated to the development of a novel adaptive torsion spring mechanism for optimizing energy consumption in legged robots. By adjusting the equilibrium position and stiffness of the spring, the system improves energy…
The paper presents a methodology for the enhanced stiffness analysis of parallel manipulators with internal preloading in passive joints. It also takes into account influence of the external loading and allows computing both the non-linear…
Springs are commonly used in wearable robotic devices to provide assistive joint torque without the need for motors and batteries. However, different tasks (such as walking or running) and different users (such as athletes with strong legs…
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…
Based on the idea of variable stiffness mechanisms, a variety of such mechanisms is shown in this work. Specifically, 2-DOF parallel kinematic machines equipped with redundant actuators and non-linear springs in the actuated joints are…
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…
Springs can provide force at zero net energy cost by recycling negative mechanical work to benefit motor-driven robots or spring-augmented humans. However, humans have limited force and range of motion, and motors have a limited ability to…
The paper presents a methodology to enhance the stiffness analysis of parallel manipulators with parallelogram-based linkage. It directly takes into account the influence of the external loading and allows computing both the non-linear…
Biological springs can be used in nature for energy conservation and ultra-fast motion. The loading and unloading rates of elastic materials can play an important role in determining how the properties of these springs affect movements. We…
This paper presents a novel methodology to model and optimize trajectories of a quadrupedal robot with spinal compliance to improve standing jump performance compared to quadrupeds with a rigid spine. We introduce an elastic model for a…
The paper presents a new stiffness modeling method for overconstrained parallel manipulators with flexible links and compliant actuating joints. It is based on a multidimensional lumped-parameter model that replaces the link flexibility by…
We propose a first-order method for convex optimization, where instead of being restricted to the gradient from a single parameter, gradients from multiple parameters can be used during each step of gradient descent. This setup is…
Objective: Overhead tasks are a primary inducement to work-related musculoskeletal disorders. Aiming to reduce shoulder physical loads, passive shoulder exoskeletons are increasingly prevalent in the industry due to their lightweight,…
The Orthoglide project aims at designing a new 3-axis machine tool for High Speed Machining. Basis kinematics is a 3 degree-of-freedom translational parallel mechanism. This basis was submitted to isotropic and manipulability constraints…
Achieving versatile and explosive motion with robustness against dynamic uncertainties is a challenging task. Introducing parallel compliance in quadrupedal design is deemed to enhance locomotion performance, which, however, makes the…
This paper focuses on the performance evaluation of the parallel manipulators for milling of composite materials. For this application the most significant performance measurements, which denote the ability of the manipulator for the…