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RISA Closed-Form Kinematic Model for Fiber-Reinforced Elastomeric Enclosures
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this work, we present a closed-form model, which describes the kinematics of fiber-reinforced elastomeric enclosures (FREEs). A FREE actuator consists of a thin elastomeric tube surrounded by reinforcing helical fibers. ...
Energy-Optimal Hopping in Parallel and Series Elastic One-Dimensional Monopeds
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, we examine the question of whether parallel elastic actuation or series elastic actuation is better suited for hopping robots. To this end, we compare and contrast the two actuation concepts in energy optimal ...
A Detailed Look at the SLIP Model Dynamics: Bifurcations, Chaotic Behavior, and Fractal Basins of Attraction
Publisher: American Society of Mechanical Engineers (ASME)
Abstract: This paper provides a comprehensive numerical analysis of a simple 2D model of running, the spring-loaded inverted pendulum (SLIP). The model consists of a point-mass attached to a massless spring leg; the leg angle at ...
Passive Dynamics Explain Quadrupedal Walking, Trotting, and Tأ¶lting
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a simplistic passive dynamic model that is able to create realistic quadrupedal walking, tأ¶lting, and trotting motions. The model is inspired by the bipedal spring loaded inverted pendulum (SLIP) model ...