This paper describes the design of a liquid-propellantpowered hot-gas actuator appropriate for human-scale power-autonomous robots. A prototype of the actuation system is described, and closed-loop tracking data is shown that demonstrates good motion control. Experiments to characterize the energetic performance of the actuation system indicate that the proposed system with a diluted propellant...

A new design method internal model control is proposed for multivariable over-actuated processes that are often encountered in complicated industrial processes. Due to the matrix that is adopted to describe over-actuated system is not square, many classical multivariable control methods can be hardly applied in such system. In this paper, based on method of virtual outputs, a new internal model...

Upper limbs of human beings are extremely special and significant, which obtain crucial function to achieve manipulations intelligently and dexterously. Gesture-Changeable Under-Actuated (GCUA) grasping function is presented to improve the capability of robotic hands to achieve humanoid manipulations with low dependence on control and sensor feedback systems, which includes traditional under-ac...

In this paper we present a novel controller for Shape Memory Alloy (SMA) actuated robotic systems. The new controller, called BAC (B-spline based Adaptive Control), is based on a hybrid combination of gain scheduling, Bspline approximation, variable structure control and integral control. The proposed controller shows excellent positioning accuracy and speed throughout the full range of motion ...

A technique to design a dynamic continuous controller to regulate a class of full-actuated mechanical systems with dry friction is proposed. It is shown that the control eliminates the steady-state error and is robust with respect to parameter uncertainties. A simple method to find the parameters of the controller is also proposed. Moreover, an application of this result to control a 2-DOF unde...

This paper presents a novel dosing concept for drug delivery based on a peristaltic piezo-electrically actuated micro membrane pump. The design of the silicon micropump itself is straight-forward, using two piezoelectrically actuated membrane valves as inlet and outlet, and a pump chamber with a piezoelectrically actuated pump membrane in-between. To achieve a precise dosing, this micropump is ...

Linear state bisection is introduced as a new method to find time-invariant state feedback control laws for a special form of underactuated nonlinear systems. The specialty of the systems considered is that every unactuated state should be coupled with at least two directly actuated states. The basic idea is based on bisecting actuated states and using linear combinations with adjustable parame...

We consider in this paper the design and implementation of a dual-stage actuated hard disk drive (HDD) servo system, in which an additional piezoelectric actuator is mounted on top of the conventional voice-coil-motor (VCM) actuator to provide a faster and finer response. More specifically, the dual-stage actuated HDD servo system consists of a primary VCM actuator and a secondary suspension pi...

An under-actuated robot mlllipulator is a serial mechanism, in which the number of p i n t s is greater than the number of actuators. Making use of the dynamic interaction between the passive joiats and actuated joints, the robot can provide dairable motion and f o r c a dynamically. In comparison to a fully actuated robot, the mndu-actuated system will be more compact in size and lomr weighted...