Design Methodology for Engineering Multifunctional Mesoscale Robots
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Legged locomotion with spinal undulations is a topic that has not received much attention yet in robotics, though, vertebrates depend on both their limbs and spine to move efficiently in their environments. In this thesis, my aim is to get more insights in ...
We compare the effects of linear and piecewise linear compliant spines on locomotion performance of quadruped robots in terms of energy efficiency and locomotion speed through a set of simulations and experiments. We first present a simple locomotion syste ...
Piezoelectric actuators are widely used in industry, especially for their high-speed response and large force generation. In practice, a Piezoelectric Actuator Drive (PAD) is a crucial point to ensure the performance of the actuator. Our current applicatio ...
Drawing inspiration from nature, this paper introduces and compares two compliant robotic legs that are able to perform precise joint torque and position control, enable passive adaption to the environment, and allowfor the exploitation of natural dynamic ...
Institute of Electrical and Electronics Engineers2013
Mechanical impedance modulation is the key to natural, stable and efficient human locomotion. An improved understanding of this mechanism is necessary for the development of the next generation of intelligent prosthetic and orthotic devices. This paper doc ...
Most of the conventional legged robots are based on rigid body parts connected by high-torque actuators and a sophisticated control scheme to achieve stable running locomotion. The energy-efficiency of such robots is roughly 10-100 times lower than that of ...
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 ...
This research is focusing on the implementation, testing, and analysis of quadrupedal, bio-inspired robot locomotion. Our tool of research is a light-weight, quadruped robot of the size of a house cat, both in simulation and hardware. We are currently foll ...
This paper presents the application of reinforcement learning to improve the performance of highly dynamic single legged locomotion with compliant series elastic actuators. The goal is to optimally exploit the capabilities of the hardware in terms of maxim ...
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 ...
