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Modeling, Characterization and Control of a Novel Torsional Shape Memory Alloy (SMA) Actuator

Publications associées (53)

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Decentralized multi-robot coordination in crowded workspaces

Laleh Makarem

The coordination of multi-robot systems is becoming one of the most important areas of research in robotics, mostly because it is required by numerous complex applications. These applications range from intelligent transportation systems, search and rescue ...

EPFL2015

Sensory Feedback for Prosthetic Hand Users

Christian Enz, Huaiqi Huang, Tao Li, Jörn Justiz

The proposed project targets the restoration of a natural sense of touch to persons using hand prostheses. Current myoelectrical upper limb prostheses normally lack tactile feedback, which limits their functionalities and user acceptance. This work propose ...

2015

Quadrupedal locomotion using hierarchical operational space control

Roland Siegwart, Marco Hutter

This paper presents the application of operational space control based on hierarchical task optimization for quadrupedal locomotion. We show how the behavior of a complex robotic machine can be described by a simple set of least squares problems with diffe ...

2014

Experimental Characterization of Drobot: Towards Closed-Loop Control

Massimo Mastrangeli, Pierre Lambert

This paper presents advances in the development of a microrobotic platform actuated by three liquid droplets in a gaseous environment (Drop-bot or Drobot). Drobot builds on the bubble robotics concept earlier introduced by Lenders [1]. A new platform desig ...

IEEE2014

Effect of mechanical parameters on dielectric elastomer minimum energy structures

Dario Floreano, Herbert Shea, Samuel Rosset, Jun Shintake

Soft robotics may provide many advantages compared to traditional robotics approaches based on rigid materials, such as intrinsically safe physical human-robot interaction, efficient/stable locomotion, adaptive morphology, etc. The objective of this study ...

Spie-Int Soc Optical Engineering2013

Design of a Miniature Short-Stroke Constant-Force Linear Actuator

Yves Perriard, Romain David Besuchet

This paper presents the modelling, design and testing of a short-stroke linear actuator to be embedded in a battery-powered positioning device. The particularity of this small (1 cm3) electromagnetic actuator is that it has to provide a constant force alon ...

Trans Tech Publications Ltd.2013

Improved electromechanical behavior in castable dielectric elastomer actuators

Herbert Shea, Samuel Rosset, Samin Akbari

Non-viscoelastic castable elastomers are replacing the polyacrylate VHB films in the new generations of dielectric elastomer actuators (DEAs) to achieve fast and reliable actuation. We introduce the optimum prestretch conditions to enhance the electromecha ...

American Institute of Physics2013

Sensor and actuator integrated low-profile robotic Origami

Jamie Paik, Amir Firouzeh, Yi Sun

The robotic origami (Robogami) is a low-profile, sheet-like robot with multi degrees-of-freedom (DoF) that embeds different functional layers. Due to its planar form, it can take advantage of precise 2D fabrication methods usually reserved for micro and na ...

Ieee2013

A bidirectional shape memory alloy folding actuator

Jamie Paik

This paper presents a low-profile bidirectional folding actuator based on annealed shape memory alloy sheets applicable for meso-and microscale systems. Despite the advantages of shape memory alloys-high strain, silent operation, and mechanical simplicity- ...

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