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Autor:
Ben Krupp
Publikováno v:
Laboratorium: Russian Review of Social Research. 13
Publikováno v:
Industrial Robot: An International Journal. 29:234-241
Series elastic actuators provide many benefits in force control of robots in unconstrained environments. These benefits include high force fidelity, extremely low impedance, low friction, and good force control bandwidth. Series elastic actuators emp
Autor:
Keith W. Buffinton, Jerry E. Pratt, Niels van Nieuwenhuizen, William Howell, Chris Shake, John C. Taylor, Ben Krupp, Peter Neuhaus, Travis Craig, Steve Shooter, Greg Watkins, Victor Ragusila, Fabian Canas, Matthew D. Johnson, Twan Koolen, John Carff, John R. Rebula
Publikováno v:
IROS
This video highlights work to date on the Yobotics-IHMC Lower Body Humanoid Robot. The robot is a twelve degree-of-freedom robot with force controllable Series Elastic Actuators at each degree of freedom. Control algorithms utilize Virtual Model Cont
Autor:
Ben Krupp, Jerry Pratt
Publikováno v:
SPIE Proceedings.
We present the mechanical design of a bipedal walking robot named M2V2, as well as control strategies to be implemented for walking and balance recovery. M2V2 has 12 actuated degrees of freedom in the lower body: three at each hip, one at each knee,