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 “"Series Elastic Actuation"”.
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Design and implementation of series elastic actuation in a biomorphic robot leg
… design requirements for BOB was to incorporate series elastic actuation, but with hobby servo motors as the power source. The use of hobby servos was intended to keep costs low, as was the extensive use of off the shelf parts whenever possible. With the recent advances in hobby servo motors, it …
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Design and Control of a Cable-Driven Articulated Modular Snake Robot
… using an antagonistic cable-routing scheme. Elastic elements in series with the cables and the coupled nature of the mechanism allow each module to detect and automatically respond to obstacles. The mechanical and electrical designs of the bending module are presented, with emphasis on the …
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Grasp Stability with a Robotic Exoskelton Glove
… of Freedom (DOF) and is actuated by a linear Series Elastic Actuator (SEA). Two methods were developed to satisfy two of the conditions required for a stable grasp. These include deformation prevention of soft objects, and maintaining force and moment equilibrium of the objects being grasped. …
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High efficiency pulse motor drive for robotic propulsion
… of robotic locomotion through the use of series elastic actuation, with a focus on swimming motion. To achieve high efficiency, electromechanical drives need to be actuated at high speed and low torque. However, in many robots, the drives are actuated in a low speed and high torque mode, …
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Extending the Capabilities of Time Delayed Haptic Teleoperation Systems
… during environment contact with the use of a series elastic actuator (SEA), investigating alternative HC parameter estimation techniques, and synthesizing an assistive semi-autonomous control framework that predicts user intention recognition and automates gross motion tasks. Experimental …