A convex optimization framework for robust-feasible series elastic actuators

Mechatronics ◽

10.1016/j.mechatronics.2021.102635 ◽

2021 ◽

Vol 79 ◽

pp. 102635

Author(s):

Edgar A. Bolívar-Nieto ◽

Tyler Summers ◽

Robert D. Gregg ◽

Siavash Rezazadeh

Keyword(s):

Convex Optimization ◽

Optimization Framework ◽

Series Elastic Actuators ◽

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Minimizing Energy Consumption and Peak Power of Series Elastic Actuators: A Convex Optimization Framework for Elastic Element Design

IEEE/ASME Transactions on Mechatronics ◽

10.1109/tmech.2019.2906887 ◽

2019 ◽

Vol 24 (3) ◽

pp. 1334-1345 ◽

Author(s):

Edgar A. Bolivar Nieto ◽

Siavash Rezazadeh ◽

Robert D. Gregg

Keyword(s):

Energy Consumption ◽

Convex Optimization ◽

Elastic Element ◽

Optimization Framework ◽

Series Elastic Actuators ◽

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Convex Optimization for Spring Design in Series Elastic Actuators: From Theory to Practice

10.1109/iros51168.2021.9636427 ◽

2021 ◽

Author(s):

Edgar A. Bolivar-Nieto ◽

Gray C. Thomas ◽

Elliott Rouse ◽

Robert D. Gregg

Keyword(s):

Convex Optimization ◽

Theory To Practice ◽

In Series ◽

Series Elastic Actuators ◽

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Hopping frequency influences elastic energy reuse with joint series elastic actuators

Journal of Biomechanics ◽

10.1016/j.jbiomech.2021.110319 ◽

2021 ◽

Vol 119 ◽

pp. 110319

Author(s):

A. Mohammadi Nejad Rashty ◽

M. Grimmer ◽

A. Seyfarth

Keyword(s):

Elastic Energy ◽

Series Elastic Actuators ◽

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On Gain Selection of Active Damping Injection Controller for Series Elastic Actuators

2020 International Conference Nonlinearity, Information and Robotics (NIR) ◽

10.1109/nir50484.2020.9290226 ◽

2020 ◽

Author(s):

Igor Dalyaev ◽

Vladislav Kopylov ◽

Victor Titov ◽

Igor Shardyko

Keyword(s):

Active Damping ◽

Series Elastic Actuators ◽

Selection Of ◽

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Robust output-feedback torque controller design for series elastic actuators and its application in multi-level control frameworks

ISA Transactions ◽

10.1016/j.isatra.2021.05.035 ◽

2021 ◽

Author(s):

Jilong Wang ◽

He Zhang ◽

Huijuan Dong ◽

Jie Zhao

Keyword(s):

Output Feedback ◽

Controller Design ◽

Level Control ◽

Multi Level ◽

Series Elastic Actuators ◽

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A Decentralized Force Controller Synthesis for Compliant Robots Driven by Series Elastic Actuators

2019 IEEE International Conference on Mechatronics (ICM) ◽

10.1109/icmech.2019.8722923 ◽

2019 ◽

Author(s):

Emre Sariyildiz ◽

Rahim Mutlu ◽

Takahiro Nozaki ◽

Toshiyuki Murakami

Keyword(s):

Controller Synthesis ◽

Series Elastic Actuators ◽

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A convex optimization framework for leakage aware thermal provisioning in 3D multicore architectures

2010 11th International Symposium on Quality Electronic Design (ISQED) ◽

10.1109/isqed.2010.5450487 ◽

2010 ◽

Author(s):

Sanghamitra Roy ◽

Koushik Chakraborty

Keyword(s):

Convex Optimization ◽

Multicore Architectures ◽

Optimization Framework

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Force Control of Series Elastic Actuators-Driven Parallel Robot

2018 IEEE International Conference on Robotics and Automation (ICRA) ◽

10.1109/icra.2018.8460768 ◽

2018 ◽

Author(s):

Hyunwook Lee ◽

Suhui Kwak ◽

Sehoon Oh

Keyword(s):

Force Control ◽

Parallel Robot ◽

Series Elastic Actuators ◽

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Impedance Control of Series Elastic Actuators Using Acceleration Feedback

Biosystems & Biorobotics - Wearable Robotics: Challenges and Trends ◽

10.1007/978-3-319-46532-6_6 ◽

2016 ◽

pp. 33-37 ◽

Author(s):

Andrea Calanca ◽

Riccardo Muradore ◽

Paolo Fiorini

Keyword(s):

Impedance Control ◽

Acceleration Feedback ◽

Series Elastic Actuators ◽

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Understanding Environment-Adaptive Force Control of Series Elastic Actuators

IEEE/ASME Transactions on Mechatronics ◽

10.1109/tmech.2018.2790350 ◽

2018 ◽

Vol 23 (1) ◽

pp. 413-423 ◽

Author(s):

Andrea Calanca ◽

Paolo Fiorini

Keyword(s):

Force Control ◽

Series Elastic Actuators ◽

Adaptive Force Control ◽

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