This paper presents the ability of hybrid zero dynamics (HZD) feedback control method to reproduce human like movements for walking push recovery of an under-actuated 3D biped model. The balance recovery controller is implemented on a three-dimensional under-actuated bipedal model subjected to a push disturbance. The biped robot model is considered as a hybrid system with eight degrees of freed...

The development of actuation-enabled materials is important for smart devices and systems. Among them, graphene with outstanding electric, thermal, and mechanical properties holds great promise as a new type of stimuli-responsive material. In this study, we developed a re-shaping strategy to construct structure-controlled graphene hydrogels for highly enhanced actuation responses. Actuators bas...

Conjugated polymer actuators have potential use in implantable neural interface devices for modulating the position of electrode sites within brain tissue or guiding insertion of neural probes along curved trajectories. The actuation of polypyrrole (PPy) doped with dodecylbenzenesulfonate (DBS) is characterized to ascertain whether it can be employed in the cerebral environment. Microfabricated...

In this paper, we study the problem of multi-robot coverage when the evolution of the robots’ positions is uncertain. More precisely, we use the popular Voronoi coverage control approach [1], which is based on the iterative construction of a centroidal Voronoi tessellation, and ask what happens to the control law and the Voronoi tessellation under actuation and measurement noise. We present a f...

It is shown theoretically and experimentally that opto-electrowetting may be used for both pulling and pushing liquid droplets. A theoretical nalysis based on the Lippmann-equation and an electronic equivalent circuit model allows definition of a voltage and frequency range for which ushing may be achieved, a novelty in electrowetting-based actuation. Experimental confirmation of the effect dem...

The use of the expansion of lithium-ion cells for mechanical actuation has been recently reported by Chin et. al. (1). Under a stress of 10 MPa, actuating strains of up to 1.5% were achieved. Taking into account the cells approximate elastic modulus, this strain corresponds to a mechanical energy density ten times higher than that of current piezoelectric materials, although with slower actuati...

Abstract The main steering rudder surface of civil aircraft usually adopts the design redundant degree actuator channels to meet requirements high safety flight control systems. However, use main-main operating leads a force fight phenomenon, which can bring fatigue and other effects on structure even threaten safety. In this paper, system with three residual degrees main-main-main operation is...

Droplet behavior on structured surfaces has recently generated a lot of interest due to its application to selfcleaning surfaces and in microfluidic devices. In this paper, the droplet shape and the droplet state on superhydrophobic surfaces are predicted using the Volume of Fluid (VOF) approach. Various structured surfaces are considered and the apparent contact angles are extracted from the p...