Analytical derivation and numerical experiments of degenerate scale for an ellipse in BEM

2012 ◽  
Vol 36 (9) ◽  
pp. 1397-1405 ◽  
Author(s):  
Jeng-Tzong Chen ◽  
Ying-Te Lee ◽  
Shyh-Rong Kuo ◽  
Yi-Wei Chen
Keyword(s):  
Numerical Experiments ◽  
Analytical Derivation ◽  
Degenerate Scale

Controllable Compliance Joint For Human Oriented Robots

2013 ◽  
Vol 43 (1) ◽  
pp. 47-60
Author(s):  
Mihail Tsveov ◽  
Dimitar Chakarov
Keyword(s):  
Numerical Experiments ◽  
Position Control ◽  
Joint Stiffness ◽  
Joint Motion ◽  
Compliance Control ◽  
Leaf Springs ◽  
Antagonistic Actuation

Abstract In the paper, different approaches for compliance control for human oriented robots are revealed. The approaches based on the non- antagonistic and antagonistic actuation are compared. In addition, an approach is investigated in this work for the compliance and the position control in the joint by means of antagonistic actuation. It is based on the capability of the joint with torsion leaf springs to adjust its stiffness. Models of joint stiffness are presented in this paper with antagonistic and non-antagonistic influence of the spring forces on the joint motion. The stiffness and the position control possibilities are investigated and the opportunity for their decoupling as well. Some results of numerical experiments are presented in the paper too.

Sign in / Sign up

Export Citation Format

Share Document