Zobrazeno 1 - 8
of 8
pro vyhledávání: '"Thomas Lens"'
Autor:
Oskar von Stryk, Thomas Lens
Publikováno v:
ICRA
This paper presents the design of a lightweight robot arm intended for safe physical human-robot interaction. The robot arm design combines tendon actuation with elasticity in the tendons to achieve a significant reduction in mass and passive complia
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::751523eed28733e71d595df0777d1ad4
https://doi.org/10.1109/icra.2013.6631218
https://doi.org/10.1109/icra.2013.6631218
Publikováno v:
Humanoids
This paper presents a new, detailed dynamics model of a novel type of actuators based on tendons with integrated springs that allows for offline adjustment of the stiffness characteristics. Like other cable or belt actuators, the elastic tendon actua
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::331f31462b6f4ab01630efd98c86e5d9
https://doi.org/10.1109/humanoids.2012.6651608
https://doi.org/10.1109/humanoids.2012.6651608
Autor:
Thomas Lens, Oskar von Stryk
Publikováno v:
IROS
This paper presents the design of the lightweight BioRob manipulator with spring-loaded tendon-driven actuation developed for safe physical human-robot interaction. The safety of the manipulator is analyzed by an analytical worst-case estimation of i
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::836eb5bc08e7028d256b668e21d07d77
https://doi.org/10.1109/iros.2012.6386236
https://doi.org/10.1109/iros.2012.6386236
Publikováno v:
IROS
Bio-inspired, musculoskeletal design of bipedal robots offers great potential towards more human-like robot performance but imposes major challenges on their design and control, as it is challenging to analyze the contribution of each active and pass
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::e2f83863b5a061d669c0f84eabd92f36
https://doi.org/10.1109/iros.2012.6385564
https://doi.org/10.1109/iros.2012.6385564
Publikováno v:
ICAR
In this paper, multibody system dynamics simulation for manipulators and legged robots with high joint elasticities, particularly with focus on collision modeling, is addressed. We present the architecture of a newly developed toolbox in conjunction
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::a3fa344a2365b3986296b8b6e73211c8
https://doi.org/10.1109/icar.2011.6088619
https://doi.org/10.1109/icar.2011.6088619
Publikováno v:
2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics.
Implementing the intrinsically compliant and energy-efficient leg behavior found in humans for humanoid robots is a challenging task. Control complexity and energy requirements are two major obstacles for the design of legged robots. Past projects re
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::4aa3566e9af258b29e8f85de5395aa43
https://doi.org/10.1109/biorob.2010.5627797
https://doi.org/10.1109/biorob.2010.5627797
Publikováno v:
Simulation, Modeling, and Programming for Autonomous Robots ISBN: 9783642173189
SIMPAR
SIMPAR
Existing legged robots lack energy-efficiency, performance and adaptivity when confronted with situations that animals cope with on a routine basis. Bridging the gap between artificial and natural systems requires not only better sensorimotor and lea
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::36b89f0986db9833541fcc712788b6c6
https://doi.org/10.1007/978-3-642-17319-6_45
https://doi.org/10.1007/978-3-642-17319-6_45
Publikováno v:
Simulation, Modeling, and Programming for Autonomous Robots ISBN: 9783642173189
SIMPAR
SIMPAR
This paper presents the modeling of the light-weight BioRob robot arm with series elastic actuation for simulation and controller design. We describe the kinematic coupling introduced by the cable actuation and the robot arm dynamics including the el
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::ba9ff8fd55a938e1583fe24ba09fa250
https://doi.org/10.1007/978-3-642-17319-6_38
https://doi.org/10.1007/978-3-642-17319-6_38