Underactuated control of a bionic-ape robot based on the energy pumping method and big damping condition turn-back angle feedback

2018 ◽  
Vol 100 ◽  
pp. 119-131 ◽  
Author(s):  
Weiguo Wu ◽  
Minchang Huang ◽  
Xiadong Gu
2021 ◽  
Vol 103 (1) ◽  
Author(s):  
Piyasi Biswas ◽  
A. Mukherjee ◽  
D. Chattopadhyay ◽  
Saikat Bhattacharjee ◽  
M. K. Pradhan ◽  
...  

Author(s):  
Aditya Jain ◽  
Rajesh Kumar ◽  
Indra Narayan Kar ◽  
Subir Kumar Saha

2011 ◽  
Vol 17 (2) ◽  
pp. 194-213 ◽  
Author(s):  
Guilherme V. Raffo ◽  
Manuel G. Ortega ◽  
Francisco R. Rubio

2011 ◽  
Vol 422 ◽  
pp. 353-358
Author(s):  
Samuel I. En Lin ◽  
Jhih Hung Wang ◽  
Yu Chi Chang ◽  
Jian Fu Huang

High-power lasers (>+21dBm), because of their ability to transmit long distance signals, have gradually become the common solution for signal transmission systems including regional cable television, Fiber To The Home (FTTH), and gigabit passive optical networks (GPON). However, if protective design is not implemented at the client-side facility, users may be exposed to health hazards caused by the high-power laser, e.g. direct eye exposure to laser beams. High-power optical adapters with photo-interrupters use metal shutter to prevent direct laser beam exposure to the eyes. They have progressively replaced conventional optical adapters and have entered the market mainstream. Our study uses the elastic-plastic theory together with parametric design to investigate the effect of geometry on the initial photo-interrupter spring-back angle. Once the metal spring-back stabilizes after several attempts of insertion and extraction, the initial springing-back angles are found to be the same as the simulated results. In our study, it is observed that factors including the ratio of the notch width to the total width of the metal shutter plate and the relationship with the boundary conditions have significant influence on the springing-back angle. These can be used as references in design control.


2010 ◽  
Vol 34-35 ◽  
pp. 1243-1247 ◽  
Author(s):  
Si Mi Tang ◽  
Shi Jian Zhu ◽  
Jing Jun Lou

The nonlinear energy pumping in a two-degree-of-freedom system comprising a damped linear oscillator coupled to cubic damping absorber is studied. It is verified that the nonlinear pumping energy can be performed by cubic damping absorber besides cubic stiffness absorber. The resonance capture is verified by time-frequency analysis (Hilbert Transform). The energy pumping efficiency is put forward for quantitative analysis, and the optimal parameters of system are obtained. The amplitude of main oscillator can be attenuated in a very short duration. The result may be significative for engineering implementation.


1987 ◽  
Vol 12 (5) ◽  
pp. 331 ◽  
Author(s):  
Guang-Yu Yin ◽  
C. P. J. Barty ◽  
D. A. King ◽  
D. J. Walker ◽  
S. E. Harris ◽  
...  
Keyword(s):  

Ergonomics ◽  
1987 ◽  
Vol 30 (7) ◽  
pp. 1033-1041 ◽  
Author(s):  
A. N. NICHOLSON ◽  
BARBARA M. STONE
Keyword(s):  

Author(s):  
Fa´bio Roberto Chavarette ◽  
Jose´ Manoel Balthazar ◽  
Marat Rafikov

This paper deals with an energy pumping that occurs in a (MEMS) Gyroscope nonlinear dynamical system, modeled with a proof mass constrained to move in a plane with two resonant modes, which are nominally orthogonal. The two modes are ideally coupled only by the rotation of the gyro about the plane’s normal vector. We also developed a linear optimal control design for reducing the oscillatory movement of the nonlinear systems to a stable point.


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