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An overview on principles for energy efficient robot locomotion
Despite enhancements in the development of robotic systems, the energy economy of
today's robots lags far behind that of biological systems. This is in particular critical for …
today's robots lags far behind that of biological systems. This is in particular critical for …
[HTML][HTML] Natural motion for energy saving in robotic and mechatronic systems
Energy saving in robotic and mechatronic systems is becoming an evermore important topic
in both industry and academia. One strategy to reduce the energy consumption, especially …
in both industry and academia. One strategy to reduce the energy consumption, especially …
Walk-man humanoid lower body design optimization for enhanced physical performance
The deployment of robots to assist in environments hostile for humans during emergency
scenarios require robots to demonstrate enhanced physical performance, that includes …
scenarios require robots to demonstrate enhanced physical performance, that includes …
Clutched elastic actuators
This paper identifies the class of actuators called clutched elastic actuators (CEAs). CEAs
use clutches to control the energy flow into springs. CEAs in exoskeletons, prostheses …
use clutches to control the energy flow into springs. CEAs in exoskeletons, prostheses …
Mechanical design and analysis of light weight hip joint parallel elastic actuator for industrial exoskeleton
Industrial wearable exoskeletons can assist the workers during manual handling of loads at
manufacturing facilities. Today, one of their design challenges is to reduce weight so the …
manufacturing facilities. Today, one of their design challenges is to reduce weight so the …
Development and control of a compliant asymmetric antagonistic actuator for energy efficient mobility
This paper presents the development and control of a novel asymmetric antagonistic
actuation scheme characterized by large energy storage capacity that enables efficient …
actuation scheme characterized by large energy storage capacity that enables efficient …
Design optimisation and control of compliant actuation arrangements in articulated robots for improved energy efficiency
The development of energy efficient actuation represents one of the biggest challenges in
robotics research today. This letter presents the generalisation of design and control …
robotics research today. This letter presents the generalisation of design and control …
Design of a novel 3-dof leg with series and parallel compliant actuation for energy efficient articulated robots
This work presents the development of a 3-DoF leg with series and parallel compliant
actuation. Series-elastic main actuators are combined with parallel high efficiency energy …
actuation. Series-elastic main actuators are combined with parallel high efficiency energy …
Can active impedance protect robots from landing impact?
This paper studies the effect of passive and active impedance for protecting jum** robots
from landing impacts. The theory of force transmissibility is used for selecting the passive …
from landing impacts. The theory of force transmissibility is used for selecting the passive …
The eleg: A novel efficient leg prototype powered by adjustable parallel compliant actuation principles
This paper presents the design and implementation details of an efficient robotic leg (eLeg)
prototype in which series-elastic actuation is combined with adjustable parallel compliance …
prototype in which series-elastic actuation is combined with adjustable parallel compliance …