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Experimental Characterization of Drobot: Towards Closed-Loop Control

Publications associées (53)

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Comparison of Cost Functions for Electrically Driven Running Robots

Roland Siegwart

In this work we apply optimal control to create running gaits for the model of an electrically driven one legged hopper, and compare the results obtained for five different objective functions. By using high compliant series elastic actuators, the motions ...

2012

A potentially robust plasma profile control approach for ITER using real-time estimation of linearized profile response models

Jonathan Bryan Lister, Sun Hee Kim

An active plasma profile control approach for ITER, which is potentially robust by being tolerant to changing and uncertain physics, has been explored in this work, using a technique based on real-time estimation of linearized profile response models. The ...

2012

Linear multi-modal actuation through discrete coupling

Nitesh Maheshwari

Due to technological limitations robot actuators are often designed for specific tasks with narrow performance goals, whereas a wide range of output and behaviours is necessary for robots to operate autonomously in uncertain complex environments. We presen ...

IEEE2012

Silicon oxide deposition for enhanced optical switching in polydimethylsiloxane-liquid crystal hybrids

Demetri Psaltis, Andreas Vasdekis, Julien Cuennet, Luciano De Sio

We report an optical switch based on a diffraction grating by combining PDMS microstructures with a photo-responsive Nematic Liquid Crystal (NLC). The grating was realized via replica molding and was subsequently coated with a thin SiO layer. SiO induced a ...

2011

Design, Optimization, and Sensorless Control of a Linear Actuator

Joël Maridor

Electrical contactors are relays for interputing high currents (up to 2000 A). They consist of three main distinct parts: the low voltage circuit, the high voltage circuit and the linear actuator that moves the contact. The purpose of this thesis is to des ...

EPFL2011

Design for Self-Sensing of a Linear Actuator

Yves Perriard, Miroslav Markovic, Joël Maridor

This paper presents a complete method for optimizing a linear actuator in order to perform its sensorless speed control. The optimizer maximizes the difference of inductances between two positions of interest in order to perform the efficient position dete ...

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2011

Design for Self-Sensing of a Linear Actuator

Yves Perriard, Miroslav Markovic, Joël Maridor

Ieee Service Center, 445 Hoes Lane, Po Box 1331, Piscataway, Nj 08855-1331 Usa2011

Towards Online Multi-Model Approximation of Time Series

Karl Aberer, Mehdi Riahi

The increasing use of sensor technology for various monitoring applications (e.g. air-pollution, traffic, climate-change, etc.) has led to an unprecedented volume of streaming data that has to be efficiently stored and retrieved. Real-time model-based data ...

IEEE Computer Society2011

A novel low-profile shape memory alloy torsional actuator

Jamie Paik

This paper presents low-profile torsional actuators applicable for mesoscale and microscale robots. The primary actuator material is thermally activated Ni-Ti shape memory alloy (SMA), which exhibits remarkably high torque density. Despite the advantages o ...

2010

Control of velocity for a linear actuator

Silas Kull

This project was done in the laboratory of integrated actuators (LAI) during the first master semester. It is part of a PhD-work with linear actuators, also called relays, where these actuators are optimized in design and equipped with a speed control duri ...

2010