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A modular robot joint for fitting easily through small openings is presented, which has a rotational degree of freedom. In addition to the common features of conventional modular robots, each module can maneuver through small openings and into an enclosed space to maintain areas that are not accessible to larger modular one. And it has a high load carrying capacity and torsional capacity compared...
By making use of leakage flux components, a multiphase permanent magnet (PM) machine constructed with fractional-slot concentrated windings can confine winding short-circuit current to rated current to avoid further damage when the stator winding gets short-circuited. However, those high-winding-inductance machines suffer from high PM demagnetization risks. Design principles to avoid PM demagnetization...
In this paper we introduced a unidirectional joint with adjustable stiffness (UJAS) for legged robot applications. It allowed the robotic leg to change dynamic property by tuning joint parameters. The joint was designed to provide large compliant motion range and sufficient energy storage capacity for passive gaits. In order to avoid undesired leg vibration during flying phase we brought about the...
The recent progress in soft magnetic composite (SMC) material has made it an alternative for motor armature core material to silicon steel. The manufacturing process of armature core made of SMC can be greatly simplified by extrusion moulding. Moreover, the isotropic characteristic of SMC enables more flexible structure designs for electric machines compared with the 2D flux distribution of traditional...
In this paper, we introduce a quadruped robot designed for bounding gait with only one actuator per compliant leg. Under the analysis of the dynamics model of the robot, a new simple linear running controller using the energy control idea, which requires minimal task level feedback and only controls both the leg torque and ending impact angle, is proposed. It successfully executes fast running from...
The general methods to design induction motor torque and speed controller are analyzed based on passivity-based control (PBC) methods. In order to accelerate the response of system, a constant damping is injected into passivity-based controller, which will lead to the speed fluctuation in the period of arriving stable state currently. To overcome the disadvantage a new control strategy is presented...
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