Zobrazeno 1 - 10
of 13
pro vyhledávání: '"Frank B. Mathis"'
The problem of finding thermally minimizing configurations of a humanoid robot to recover its actuators from unsafe thermal states is addressed. A first-order, data-driven, effort-based, thermal model of the robot's actuators is devised, which is use
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_dedup___::bf204c142932967f6d0f34a7fcf32e10
Autor:
Frank B. Mathis, Ranjan Mukherjee
Publikováno v:
Mechanism and Machine Theory. 105:44-57
The spring loaded inverted pendulum (SLIP) model is commonly used to describe the dynamics of hopping robots. A fundamental limitation of the SLIP model is that it fails to account for impact with the ground; this is due to the fact that the leg is m
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::1454bb51f28f851b710063a162bb17ce
https://doi.org/10.1016/j.mechmachtheory.2016.06.014
https://doi.org/10.1016/j.mechmachtheory.2016.06.014
Publikováno v:
IEEE Transactions on Control Systems Technology. 24:334-340
Underactuated dynamic systems typically have multiple isolated equilibria, and therefore, a stabilizing controller is effective only in the region of attraction of the equilibrium. An impulsive control method is proposed for enlarging the region of a
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::1ceaf3711e4bd0ad82024482c610b520
https://doi.org/10.1109/tcst.2015.2424925
https://doi.org/10.1109/tcst.2015.2424925
Publikováno v:
Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare.
A majority of the results in the literature on hopping robots assume the ground to be rigid. Hopping on a foundation that can be modeled as a mass-spring-damper system poses challenges due to undesired vibration of the additional degree-of-freedom an
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::f54f970d3e0a0621b8044cec2cbd2ec1
https://doi.org/10.1115/dscc2018-8975
https://doi.org/10.1115/dscc2018-8975
Publikováno v:
IEEE/ASME Transactions on Mechatronics. 19:1469-1474
There are many benefits of using impulsive actuation in dynamical systems; therefore, control systems with impulsive inputs have been widely investigated. All of these investigations, however, have been theoretical in nature and few have reported exp
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::6ed2c7371490a310e9523c85d279a6fb
https://doi.org/10.1109/tmech.2013.2293474
https://doi.org/10.1109/tmech.2013.2293474
Autor:
Frank B. Mathis, Ranjan Mukherjee
Publikováno v:
2016 IEEE First International Conference on Control, Measurement and Instrumentation (CMI).
The problem of controlling the apex height of a two-mass robot hopping on a massless elastic foundation is addressed. A backstepping controller is used to stabilize the dynamics of the robot in the flight and contact phases and a discrete controller
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::27873bd4ec7ee6aaae0b82e88514ef65
https://doi.org/10.1109/cmi.2016.7413732
https://doi.org/10.1109/cmi.2016.7413732
Publikováno v:
Journal of Sound and Vibration. 331:4395-4405
A new method for the control of string vibration is presented. The method relies on application and removal of a constraint at one point on the string close to one of its boundaries. Application of the constraint temporarily results in two vibrating
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::dea1cc7760e581611083a365faa7ded6
https://doi.org/10.1016/j.jsv.2012.05.011
https://doi.org/10.1016/j.jsv.2012.05.011
Publikováno v:
ACC
The active sliding synthetic wheel biped proposed in this paper is a modification of the active synthetic wheel biped (SWB) developed previously. The SWB rolls on its arc-shaped feet and steps to transition between feet which results in walking. In t
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::47acbf234ce7fded096b7060deae63de
https://doi.org/10.1109/acc.2014.6858796
https://doi.org/10.1109/acc.2014.6858796
Autor:
Ranjan Mukherjee, Frank B. Mathis
Publikováno v:
IROS
Bipedal robots have the potential to provide robust locomotion over uneven terrain and its dynamic stability has been shown to be analogous to that of a spring loaded inverted pendulum (SLIP). The SLIP model is fundamentally limited in its ability to
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::8a8d2c95b4b847fbbcb2595782641126
https://doi.org/10.1109/iros.2013.6697097
https://doi.org/10.1109/iros.2013.6697097
Autor:
Frank B. Mathis, Ranjan Mukherjee
Publikováno v:
ICRA
The spring loaded inverted pendulum (SLIP) model is commonly used to describe the dynamics of hopping robots. Based on this model, the control of hopping robots has been widely investigated. A fundamental limitation of the model is that it fails to a
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::77627a46e01d11f1865ca5f497d8bdea
https://doi.org/10.1109/icra.2013.6631259
https://doi.org/10.1109/icra.2013.6631259