Publications associées à Motion control

Planar pop-up actuator device with embedded electro-magnetic actuation

Jamie Paik, Amir Firouzeh, Marco Salerno

A planar actuator device, including a base plate including a first, second, and third pair of planar coils, each pair of planar coils having an inner coil and an outer coil, each pair of planar coils arranged along a first, second, and third linear motion ...

2018

A planar pop-up actuator device with embedded electro-magnetic actuation

Jamie Paik, Stefano Mintchev, Amir Firouzeh, Marco Salerno

A planar actuator device, including a base plate including a first, second, and third pair of planar coils, each pair of planar coils having an inner coil and an outer coil, each pair of planar coils arranged along a first, second, and third linear motion ...

2018

Steerable Locomotion Controller for Six-strut Icosahedral Tensegrity Robots

Chiara Ercolani, Massimo Vespignani

This paper proposes a novel steerable locomotion controller for six-strut tensegrity robots. Tensegrity robots are lightweight and have many promising features such as robustness, shape-shifting capabilities, and deployability, making them good candidates ...

2018

Low-inertia vacuum-powered soft pneumatic actuator coil characterization and design methodology

Jamie Paik, Matthew Aaron Robertson

Recently developed soft pneumatic actuators (SPAs) powered by negative pressure have demonstrated great potential in the future of soft robotics for their high strength, intrinsic safety, low weight, and often simple design. The majority of these have only ...

2018

Development and Comparison of Foot Interfaces for Controlling a Robotic Arm in Surgery

Hannes Bleuler, Mohamed Bouri, Etienne Burdet, Elahe Abdi

Currently available foot interfaces to command an external assistive robotic arm for laparoscopic surgery typically consist of a couple of push buttons placed on a planar platform. In this paper, we develop and compare two foot interfaces implementing isot ...

IEEE2018

From Human Physical Interaction To Online Motion Adaptation Using Parameterized Dynamical Systems

Aude Billard, Thomas Triquet, Mahdi Khoramshahi

In this work, we present an adaptive motion planning approach for impedance-controlled robots to modify their tasks based on human physical interactions. We use a class of parameterized time-independent dynamical systems for motion generation where the mod ...

2018

From Human Physical Interaction To Online Motion Adaptation Using Parameterized Dynamical Systems

Aude Billard, Thomas Triquet, Mahdi Khoramshahi

In this work, we present an adaptive motion planning approach for impedance-controlled robots to modify their tasks based on human physical interactions. We use a class of parameterized time-independent dynamical systems for motion generation where the mod ...

IEEE2018

Device having a plurality of latching micro-actuators and method of operating the same

Herbert Shea, Samuel Rosset, Nadine Besse, Juan José Zarate

An actuator device including a plurality of transducer actuators, and a common pneumatic actuation mechanism for shaping the plurality of transducer actuators, wherein each actuator of the plurality of transducer actuators includes a shape memory polymer m ...

2018

Accelerated Sensorimotor Learning of Compliant Movement Primitives

Auke Ijspeert, Tadej Petric, Luca Colasanto

Autonomous trajectory generation through generalization requires a database of motion, which can be difficult and time consuming to obtain. In this paper, we propose a method for autonomous expansion of a database for the generation of compliant and accura ...

IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC2018

Imprecise dynamic walking with time-projection control

Auke Ijspeert, Philippe Müllhaupt, Salman Faraji

We present a new walking foot-placement controller based on 3LP, a 3D model of bipedal walking that is composed of three pendulums to simulate falling, swing and torso dynamics. Taking advantage of linear equations and closed-form solutions of the 3LP mode ...

2018

Motion control

Planar pop-up actuator device with embedded electro-magnetic actuation

A planar pop-up actuator device with embedded electro-magnetic actuation

Steerable Locomotion Controller for Six-strut Icosahedral Tensegrity Robots

Low-inertia vacuum-powered soft pneumatic actuator coil characterization and design methodology

Development and Comparison of Foot Interfaces for Controlling a Robotic Arm in Surgery

From Human Physical Interaction To Online Motion Adaptation Using Parameterized Dynamical Systems

From Human Physical Interaction To Online Motion Adaptation Using Parameterized Dynamical Systems

Device having a plurality of latching micro-actuators and method of operating the same

Accelerated Sensorimotor Learning of Compliant Movement Primitives

Imprecise dynamic walking with time-projection control

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Low-inertia vacuum-powered soft pneumatic actuator coil characterization and design methodology

Planar pop-up actuator device with embedded electro-magnetic actuation

A planar pop-up actuator device with embedded electro-magnetic actuation

Steerable Locomotion Controller for Six-strut Icosahedral Tensegrity Robots

Device having a plurality of latching micro-actuators and method of operating the same

Development and Comparison of Foot Interfaces for Controlling a Robotic Arm in Surgery

From Human Physical Interaction To Online Motion Adaptation Using Parameterized Dynamical Systems

Imprecise dynamic walking with time-projection control

Accelerated Sensorimotor Learning of Compliant Movement Primitives

From Human Physical Interaction To Online Motion Adaptation Using Parameterized Dynamical Systems