Zobrazeno 1 - 10
of 15
pro vyhledávání: '"Derek Lahr"'
Autor:
Derek LAHR, Hak YI
Publikováno v:
Journal of Advanced Mechanical Design, Systems, and Manufacturing, Vol 11, Iss 5, Pp JAMDSM0058-JAMDSM0058 (2017)
The goal of this study is to investigate the effect of actuator position on the theoretical energy consumption of an electrically powered bipedal robot. Specifically, the study focuses on the legs of the afore-mentioned robot because their function i
Externí odkaz:
https://doaj.org/article/4e4c5dace0a64d8cb07ce01191784602
Publikováno v:
IROS
This paper provides an overview of the embedded joint-space control approach developed for THOR, a new series elastic humanoid. The 60 kg robot features electromechanical linear series elastic actuators (SEAs), enabling low-impedance control of each
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::9fc0d4f62307b96a90ce8824f61779bd
https://doi.org/10.1109/iros.2015.7353845
https://doi.org/10.1109/iros.2015.7353845
Publikováno v:
Volume 6B: 37th Mechanisms and Robotics Conference.
Variable compliance has been a growing topic of interest in legged robotics due to recent studies showing that animals adjust their leg and joint stiffness to adjust their natural dynamics and to accommodate changes in their environment. However, exi
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::c6ec12c335d12418de60321f32b8a835
https://doi.org/10.1115/detc2013-13614
https://doi.org/10.1115/detc2013-13614
Publikováno v:
Volume 6B: 37th Mechanisms and Robotics Conference.
Series elastic actuators (SEAs) have many benefits for force controlled robotic applications. Placing an elastic member in series with a rigid actuator output enables more-stable force control and the potential for energy storage while sacrificing po
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::ee9b05e2e5fe0f5b8282375af3cb344f
https://doi.org/10.1115/detc2013-13637
https://doi.org/10.1115/detc2013-13637
Autor:
Derek Lahr, Dennis Hong
Publikováno v:
Volume 6B: 37th Mechanisms and Robotics Conference.
Robotic manipulators can be categorized as either parallel, serial, or in some cases a combination of the two. Among others, a notable drawback of serial manipulators in dynamic applications is the large inertia created by typically heavy electromech
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::f79c47658238a00d2a8a3ab660829852
https://doi.org/10.1115/detc2013-13587
https://doi.org/10.1115/detc2013-13587
Publikováno v:
Volume 6B: 37th Mechanisms and Robotics Conference.
This paper presents the design of our new 33 degree of freedom full size humanoid robot, SAFFiR (Shipboard Autonomous Fire Fighting Robot). The goal of this research project is to realize a high performance mixed force and position controlled robot w
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::7d5f5371380d492d2a2a0d1fadfba4cb
https://doi.org/10.1115/detc2013-12590
https://doi.org/10.1115/detc2013-12590
Autor:
Derek Lahr, Dennis Hong
Publikováno v:
Journal of Mechanical Design. 131
In this paper, the operation and analysis of a novel, highly configurable, infinitely variable transmission of the ratcheting drive type is presented. This particular drive uses a cam and a number of cam followers rotatably mounted to a carrier plate
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::14ef430f9ca5ad9d74e7d8fc1b583e28
https://doi.org/10.1115/1.3179004
https://doi.org/10.1115/1.3179004
Publikováno v:
Journal of Mechanisms and Robotics. 1
In this paper, a locomotion mechanism for mobile robots inspired by how single celled organisms use cytoplasmic streaming to generate pseudopods for locomotion is presented. Called the whole skin locomotion, it works by way of an elongated toroid, wh
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::3726150655ab34f7bb98919c45a15d2a
https://doi.org/10.1115/1.2976368
https://doi.org/10.1115/1.2976368
Autor:
Derek Lahr, Dennis Hong
Publikováno v:
Volume 2: 32nd Mechanisms and Robotics Conference, Parts A and B.
The Whole Skin Locomotion (WSL) robotic platform is a novel biologically inspired robot that uses a fundamentally different locomotion strategy than other robots. Its motion is similar to the cytoplasmic streaming action seen in single celled organis
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::e98e5d7a9a94a0cd3cf87417609f7ab4
https://doi.org/10.1115/detc2008-49559
https://doi.org/10.1115/detc2008-49559
Publikováno v:
Recent Progress in Robotics: Viable Robotic Service to Human ISBN: 9783540767282
This paper presents a novel tripedal mobile robot STriDER (Self-excited Tripedal Dynamic Experimental Robot) and considerations for gait planning strategies based on kinematics. To initiate a step, two of the robot’s legs are oriented to push the c
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::67a39ac91953323612563c422fd269fc
https://doi.org/10.1007/978-3-540-76729-9_4
https://doi.org/10.1007/978-3-540-76729-9_4
