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dc.contributor.authorHunt, Jen
dc.contributor.authorGiardina, Fen
dc.contributor.authorMacedo Rosendo Silva, Andreen
dc.contributor.authorIida, Fumiyaen
dc.date.accessioned2016-03-08T11:00:04Z
dc.date.available2016-03-08T11:00:04Z
dc.date.issued2016-06-01en
dc.identifier.citationHunt et al. IEEE/ASME Transactions on Mechatronics (2016)en
dc.identifier.issn1083-4435
dc.identifier.urihttps://www.repository.cam.ac.uk/handle/1810/254226
dc.description.abstractOpen-loop control strategies for legged robot locomotion have been investigated by many researchers because of the advantages in terms of simplicity and robustness, although the influence of control inputs to locomotion performance is not fully clarified. This paper investigates two of the most basic forms of control input, sinusoidal and pulsed signals, to be used in a class of hopping robot based on parallel elastic actuation. Our results show that a pulsed torque outperforms its sinusoidal counterpart with a lower energy expenditure. Moreover, the pulsed driving torque is capable of keeping the same energy efficiency, while changing the forward hopping velocity, which is not possible with the sinusoidal driving torque. Such findings will help shape the future of robotics by achieving higher energy efficiencies within legged robots, while maintaining behavioral diversity.
dc.language.isoenen
dc.titleImproving efficiency for an open-loop-controlled locomotion with a pulsed actuationen
dc.typeArticle
prism.endingPage1591
prism.issueIdentifier3en
prism.publicationDate2016en
prism.publicationNameIEEE/ASME Transactions on Mechatronicsen
prism.startingPage1581
prism.volume21en
dcterms.dateAccepted2016-02-26en
rioxxterms.versionofrecord10.1109/TMECH.2016.2539206en
rioxxterms.versionAM
rioxxterms.licenseref.urihttp://www.rioxx.net/licenses/all-rights-reserveden
rioxxterms.licenseref.startdate2016-06-01en
dc.contributor.orcidMacedo Rosendo Silva, Andre [0000-0003-4062-5390]
dc.contributor.orcidIida, Fumiya [0000-0001-9246-7190]
dc.identifier.eissn1941-014X
rioxxterms.typeJournal Article/Reviewen
cam.issuedOnline2016-03-08en


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