相关论文: New Intelligent Transmission Concept for Hybrid Mo…

Mobile machines using a hydrostatic transmission is highly efficient under lower working-speed condition but less capable at higher transport velocities. To enhance overall efficiency, we have improved the powertrain design by combining a…

Vehicle power-trains use a variable transmission (multiple gear-ratios) to minimize motor size and maximize efficiency while meeting a wide-range of operating points. Robots could similarly benefit from variable transmission to save weight…

This paper present a novel dual-speed actuator adapted to robotics. In many applications, robots have to bear large loads while moving slowly and also have to move quickly through the air with almost no load. This lead to conflicting…

This paper addresses the closed-loop control of an actuator with both a continuous input variable (motor torque) and a discrete input variable (mode selection). In many applications, robots have to bear large loads while moving slowly and…

The paper proposes a feed-forward control strategy for mobile robot control that accounts for a non-linear model of the vehicle with interaction between inputs and outputs. It is possible to include specific model uncertainties in the…

Soft robots have been leveraged in considerable areas like surgery, rehabilitation, and bionics due to their softness, flexibility, and safety. However, it is challenging to produce two same soft robots even with the same mold and…

Most robotic hands and grippers rely on actuators with large gearboxes and force sensors for controlling gripping force. However, this might not be ideal for tasks that require the robot to interact with an unstructured and unknown…

Practical deployments of coordinated fleets of mobile robots in different environments have revealed the benefits of maintaining small distances between robots, especially as they move at higher speeds. However, this is counter-intuitive in…

Most robotic hands and grippers rely on actuators with large gearboxes and force sensors for controlling gripping force. However, this might not be ideal for tasks which require the robot to interact with an unstructured and/or unknown…

This paper presents a distributed inverse dynamics controller (DIDC) for quadruped robots that addresses the limitations of existing reactive controllers: simplified dynamical models, the inability to handle exact friction cone constraints,…

This article presents an eco-driving algorithm for electric vehicles featuring multi-speed transmissions. The proposed controller is formulated as a co-optimization problem, simultaneously optimizing both vehicle longitudinal speed and…

A speed-sensorless state feedback controller for induction machines (IMs) with LC filter is proposed. The estimation of speed and remaining states is based on a speed-adaptive observer, requiring only the measurement of the filter input…

In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking in a coordinated way when the sampling…

In order to increase the number of situations in which an intelligent vehicle can operate without human intervention, lateral control is required to accurately guide it in a reference trajectory regardless of the shape of the road or the…

Intrinsically elastic robots surpass their rigid counterparts in a range of different characteristics. By temporarily storing potential energy and subsequently converting it to kinetic energy, elastic robots are capable of highly dynamic…

In this paper, we present a hybrid position/force controller for operating joint robots. The hybrid controller has two goals -- motion tracking and force regulating. As long as these two goals are not mutually exclusive, they can be…

This paper describes the speed control of a DC series motor for an accurate and high-speed performance. A neural network based controlling operation with fuzzy modeling is suggested in this paper. The driver units of these machines are…

This paper introduces a framework to systematically optimize the control and design of an electric vehicle transmission, connecting powertrain sizing studies to detailed gearbox design methods. To this end, we first create analytical models…

This paper presents a framework to jointly optimize the design and control of an electric race car equipped with a multiple-gear transmission, specifically accounting for the discrete gearshift dynamics. We formulate the problem as a…

Prior to realizing fully autonomous driving, human intervention will be required periodically to guarantee vehicle safety. This fact poses a new challenge in human-machine interaction, particularly during control authority transition from…