The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
We report on the development of a novel switchable clutched parallel elastic actuator (SCPEA), which is composed of active components, such as a brake and clutch, as well as passive components, such as a ratchet and one-way bearing. The proposed SCPEA can actively control the storing, preserving, and releasing of the spring potential energy to and from the input motor even when the motor is in operation,...
This paper proposes a high speed position control using a new actuation structure. To realize a small-sized and highly-torque actuator, a reduction gear is usually used. So that current saturation and friction effect of the actuator exist, the actuator has the maximum acceleration and maximum revolution speed. The gear with high gear ratio reduces these two maximum values because of the reduction...
This paper presents an example of a PID controller applied to a 2-dimensional rotorcraft landing gear with two DOF (degrees of freedom), as well as the design of the landing gear dynamic model. The focus of this work is to maintain the landing spot to prevent the landing gear from skidding sideways on the ground, while adapting to different ground conditions. A nonlinear model for the landing gear...
This work proposes a method to enhance the green power demands through providing an energy source which utilizes the kinetic green energy of the vehicles in multi-level car parking building, where vehicles are already climbing when the driver looking for space to park, and then climb down to go out the building with a kinetic energy due to ground gravity. A novel mechanism has been designed to generate...
This paper presents a 7-DOF partially statically balanced robot that has been developed for physical human robot interaction. The gravity compensation technique uses remote counterweights connected to the robot via a low-pressure hydraulic transmission. Low-friction diaphragm cylinders are used in order to provide very low residual friction. A two-stage balancing bench allows using a unique moving...
This paper describes a theory and experimental results concerning a passive aerial acrobat robot without electric power. As the robot performs hand-to-hand on its flying trapeze, it utilizes no electricity but simply draws power from the mechanical potential energy of its swings. The robot, holding onto the trapeze, overcomes the rotation moment by aid of a counterbalance that is on the opposite side...
Most conventional robotic arms use motors to accelerate the manipulator. This leads to an unnecessary high energy consumption when performing repetitive tasks. This paper presents an approach to reduce energy consumption in robotic arms by performing its repetitive tasks with the help of a parallel spring mechanism. A special non-linear spring characteristic has been achieved by attaching a spring...
Bringing mechanically compliant joints to robots is in the focus of interest world wide, especially in the humanoid robotics community. Variable Stiffness Joints (VSJ) promise to gain a high performing and robust robotic system. The presented DLR Floating Spring Joint (FSJ) is a VSJ module designed for the first 4 axes of the anthropomorphic DLR Hand Arm System. The DLR Hand Arm System aims to match...
An impulse-momentum approach is proposed for swing-up control of the acrobot. The algorithm is based on increasing the total energy of the system using impulsive inputs. After increasing the energy of the system, rest-to-rest maneuvers are employed to regulate the system energy to the desired level that corresponds to the upright configuration of the acrobot. The proposed algorithm is implemented...
Achieving global asymptotic stabilization of rigid-body attitude is impossible using smooth feedback due to topological obstructions. In this paper, we propose a hybrid feedback that coordinates a “synergistic” family of potential functions and their natural feedbacks to achieve global asymptotic stability of a desired attitude with robustness to small perturbations including measurement noise. We...
Haptic devices enable the user to manipulate the molecules and feel interactions during the docking process in virtual environment on the computer. Implementation of torque feedback allows the user to have more realistic experience during force simulation and find the optimum docking positions faster. In this paper, we propose a haptic rendering algorithm for biomolecular docking with torque force...
The application of the actuator to the robot that has a peculiar control function and output properties as seen in the living is expected. This paper shows two-joint robot arm system by motor drive with the planetary gear. The distribution at the end of arm is clarified. Moreover, to make better the ability of the actuator, higher force can be put out around the tip with the aid of the function of...
This paper describes the motor drive system which is applied a planetary to the power distribution mechanism. This motor drive system can realize the function of Bi-articular muscles peculiar to an animal. The relation between the motor drive and force is considered. The rigidity of the arm tip with bi-articlar muscles is shown.
In the passive dynamic walking proposed by McGeer, mechanical energy lost by heel strike is restored by transporting potential energy to kinetic energy as walking down a slope. When energy input is large such as an angle of slope is steep, bifurcation of walking period occurs. In parametric excitation walking, which is one method to realize passive dynamic-like walking on level ground, bifurcation...
Regenerative braking system is the characteristic system of electric and hybrid electric vehicle. The system can restore the kinetic energy and potential energy, used during start and accelerating, into battery through electrical machine. A control strategy witch is based on ideal braking force distribution is proposed. Front wheel and rear wheel can make full use of ground adhesion condition with...
The standard control problem of the pendubot refers to the task of stabilizing its equilibrium configuration with the highest potential energy. Linearization of the dynamics of the pendubot about this equilibrium results in a completely controllable system and allows a linear controller to be designed for local asymptotic stability. For the under-actuated system, the important task is therefore to...
In this paper, we propose a new robotic catapult with a high stiffness endpoint. The conventional robotic catapults based on the closed elastica are robotic elements for generating impulsive motions by utilizing the snap-through buckling. In a typical robotic catapult, the two ends of an elastic strip are fixed to a free joint and an active joint, respectively. Here we found that by adding only the...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.