Abstract: This paper presents an energetically derived control methodology to specify and regulate the oscillatory motion of a pneumatic hopping robot. An ideal lossless pneumatic actuation system with an ...

Abstract: To carry out stable and dissipative contact tasks with an arbitrary environment, it is critical for a pneumatic actuator to be passive with respect to a supply rate consisting of the spool ...

Abstract: This paper presents a dynamic model of the interior ballistics of an experimental liquid propellant powered rifle. The liquid propellant powered rifle described utilizes a mixture of hydroxyl ...

Abstract: This paper presents a dynamic model of a monopropellant-based chemofluidic power supply and actuation system. The proposed power supply and actuation system, as presented in prior works, is ...

Abstract: This paper presents a control methodology that enables nonlinear model-based control of pulse width modulated (PWM) pneumatic servo actuators. An averaging approach is developed to describe the ...

Abstract: This paper proposes a control approach that can provide significant energy savings for the control of pneumatic servo systems. The control methodology is formulated by decoupling the standard ...

Abstract: A methodology is proposed for the control of switching systems characterized by linear system dynamics with a time delay in the input channel. The method incorporates a state predictor that ...

Abstract: This paper describes the modeling and control of a proportional-injector direct-injection monopropellant-powered actuator for use in power-autonomous human-scale mobile robots. The development and ...