Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 5 of 5 for “"Parallel Actuation"”.
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Design of a Humanoid Robot for Disaster Response
… actuators with multiple joints actuated in parallel. The parallel actuation mimics the human body, where multiple muscles pull on the same joint cooperatively. The legs retain high joint torques throughout their large RoM with some joints achieving torques as high as 289 [Nm]. The upper body …
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Fabrication and use of conducting polymer linear actuators
… conducting polymer actuators. Additionally, parallel actuation is explored as a method to achieve greater forces without compromising actuation speed. The integration of these actuators into stand alone systems that include joints and flexures has yielded novel techniques in amplifying motion …
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Development of the Carpal Wrist; a Symmetric, Parallel-Architecture Robotic Wrist
… to the eight carpal bones of the human wrist, a parallel actuation scheme, similar to the flexor and extensor carpi muscles along the forearm, and an open interior passage, which forms a protected tunnel for routing hoses and electrical cables, much like the well-known carpal tunnel. The Carpal …
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Dynamic Locomotion and Whole-Body Control for Compliant Humanoids
… controller for series elastic humanoids with parallel actuation. A distributed controller architecture is implemented using a dual-axis motor controller that computes desired actuator forces and motor currents using simple models of the joint mechanisms and series elastic actuators. An …
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Design of Linear Series Elastic Actuators for a Humanoid Robot
… the range of motion and torque profiles for the parallel hip and ankle joints. With a focus on a large power-to-weight ratio and small packaging size, the THOR SEAs are well-suited for accurate torque control of the parallel joints on the robot. Linearly actuated joints, especially ones driven …