A method of running pattern generation for a humanoid robot using the dynamics of a simple inverted pendulum is proposed. Dynamic simulation using a model of an actual humanoid robot shows that the robot can run by applying a generated pattern with slight modifications. The simulation is used to evaluate the required performance of actuators for an actual running robot.

Dielectric elastomer actuators (DEAs) as a typical class of electroactive polymers have been developed rapidly in the last two decades due to their advantages such large strain, high energy density, and fast response. The high-frequency characteristics DEAs enable them be applied wider range fields. In this review, (>10 Hz) applications are focused on. basic concepts metrics for first given. Ne...

In this paper, a hybrid position/force controller for electrohydraulic servo-actuators is designed in the presence of residual dynamics. The purpose to apply cycle movement that mostly used industrial fatigue test applications, which consists imposing specified force on flexible load after some position. This can be repeated several times with different magnitudes and frequencies position traje...

In the past few decades, a variety of rehabilitation robotic exoskeletons have been developed for patients with stroke and traumatic brain injury, which can assist therapists and potentially improve the functional outcomes. Many robotic exoskeleton systems adopted series elastic actuators, which are known to offer a number of advantages over rigid actuators, such as high force/torque fidelity, ...

The Thirty Meter Telescope has 492 primary mirror segments, each incorporated into a Primary Segment Assembly (PSA), each of which in turn has three actuators that control piston, tip, and tilt, for a total of 1476 actuators. Each actuator has a servo loop that controls small motions (nanometers) and large motions (millimeters). Candidate actuators were designed and tested that fall into the ca...

In this paper, reinforcement learning is applied to coordinate, in a decentralized fashion, the motions of a pair of hydraulic actuators whose task is to firmly hold and move an object along a specified trajectory under conventional position control. The learning goal is to reduce the interaction forces acting on the object that arise due to inevitable positioning errors resulting from the impe...

Compliant mechanisms are widely used for instrumentation and measuring devices their precision high bandwidth. In this paper, the mechatronic model of a compliant 3PRS parallel manipulator is developed, integrating inverse direct kinematics, dynamic problem dynamics actuators control. The kinematic solved, assuming pseudo-rigid deflection in revolute spherical joints. using Principle Energy Equ...

Ambient intelligence systems interact with their surroundings using actuators and based on environmental data collected from sensors’ readings. Diagnosis in this context must address some particular challenges due to the dynamic nature of these systems and the impossibility to predefine control loops between sensors and actuators at design time. A possible solution to this problem is to base di...

I. Highly resonant dynamics can severely degrade the performance of technological systems. Structural modes in machines and robots, ground and aerospace vehicles, and precision instrumentation, such as atomic force microscopes and optical systems, can limit the ability of control systems to achieve the desired performance. Consequently, control systems must be designed to suppress the effects o...