...Brokoslaw Laschowski; John McPhee Robotic leg prostheses and exoskeletons have traditionally been designed using highly-geared motor-transmission systems that minimally exploit the passive dynamics of human locomotion, resulting in inefficient actuators that require significant energy consumption...

... joints mechanism, the maximum impact force at its joints takes its highest value at the nearest joint to the input link. This study also shows that, when the mechanism works in horizontal plane, the rate of impacts at each clearance-joint increases and consequently the clearance-joints and actuators...

...Farhad Aghili The equality and inequality constraints on constraint force and/or the actuator force/torque arise in several robotic applications, for which different controllers have been specifically developed. This paper presents a unified approach to control a rather general class of robotic...

... of the projection matrix is fixed, the projection-based controller does not need to change its structure whenever the mechanical system changes its number of degrees-of-freedom. The controller also allows to specify lower and upper bounds on the actuator forces/torques, making it suitable not only for the control...

...Bilal Ruzzeh; József Kövecses Redundancy in the constraining of mechanical systems achieves more stability and larger load capacity for the system, while in actuation it provides better robustness against singularities and higher maneuverability. Few techniques have been developed with the aim...

... with gain scheduling show a high potential in the simulation to significantly increase the disturbance rejection or the tracking performance of the machine tool. 28 02 2008 24 07 2008 19 05 2009 actuators damping linear quadratic control machine tools nonlinear control systems...

... to as hybrid dynamical systems . In particular, new results pertaining to the dynamic behavior of a sample hybrid dynamical system, an impact microactuator, are obtained using this software program. Here, periodic trajectories of the actuator with single or multiple impacts per period and associated saddle...

...G. Aridon; A. Al Majid; L. Blanchard; D. Rémond; R. Dufour This paper presents a simulation tool for predicting the self-deployment of an on-board deployable hexapod based on the release of strain energy stored in six tape-spring actuators. Their hysteretic behavior is described by six restoring...

... by the “energy shaping” technique. Two designs are proposed to reduce the sensitivity of the biped walking robot to slope and initial conditions. In the first design, a moving mass actuator is located on each link of the robot. The actuators are used to shape the potential energy of the biped robot so...

... counterweight mode is optimized by minimizing the sum of mean square values of actuator forces. The simulations show that the optimal mass of counterweights does not equal the total mass of moving parts of the parallel manipulator, and each counterweight mode has its advantage and disadvantage. Considering...