The Experts below are selected from a list of 81 Experts worldwide ranked by ideXlab platform
Harry H Asada - One of the best experts on this subject based on the ideXlab platform.
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design of pzt cellular actuators with power law strain amplification
Intelligent Robots and Systems, 2007Co-Authors: Jun Ueda, Thomas W Secord, Harry H AsadaAbstract:The demand for high-force and compact actuators with large strain is increasing in robotics. PZT is known as one of the promising materials for this purpose with respect to bandwidth, stress, and reliability. However, the most critical drawback of PZT is its extremely small strain, i.e. only 0.1 %. This paper presents a nested rhombus structure for strain amplification of PZT stack actuators. This structure provides a "power-law" strain amplification, resulting in over 20 % strain, which is particularly useful for gaining a large strain in a compact body, appropriate for many robotic applications. The Notational Convention and fundamental force-displacement analysis will be presented. In addition, the feasibility of the design concept will be addressed through the design of a proof- of-concept prototype.
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IROS - Design of PZT cellular actuators with power-law strain amplification
2007 IEEE RSJ International Conference on Intelligent Robots and Systems, 2007Co-Authors: Jun Ueda, Thomas W Secord, Harry H AsadaAbstract:The demand for high-force and compact actuators with large strain is increasing in robotics. PZT is known as one of the promising materials for this purpose with respect to bandwidth, stress, and reliability. However, the most critical drawback of PZT is its extremely small strain, i.e. only 0.1 %. This paper presents a nested rhombus structure for strain amplification of PZT stack actuators. This structure provides a "power-law" strain amplification, resulting in over 20 % strain, which is particularly useful for gaining a large strain in a compact body, appropriate for many robotic applications. The Notational Convention and fundamental force-displacement analysis will be presented. In addition, the feasibility of the design concept will be addressed through the design of a proof- of-concept prototype.
Jun Ueda - One of the best experts on this subject based on the ideXlab platform.
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design of pzt cellular actuators with power law strain amplification
Intelligent Robots and Systems, 2007Co-Authors: Jun Ueda, Thomas W Secord, Harry H AsadaAbstract:The demand for high-force and compact actuators with large strain is increasing in robotics. PZT is known as one of the promising materials for this purpose with respect to bandwidth, stress, and reliability. However, the most critical drawback of PZT is its extremely small strain, i.e. only 0.1 %. This paper presents a nested rhombus structure for strain amplification of PZT stack actuators. This structure provides a "power-law" strain amplification, resulting in over 20 % strain, which is particularly useful for gaining a large strain in a compact body, appropriate for many robotic applications. The Notational Convention and fundamental force-displacement analysis will be presented. In addition, the feasibility of the design concept will be addressed through the design of a proof- of-concept prototype.
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IROS - Design of PZT cellular actuators with power-law strain amplification
2007 IEEE RSJ International Conference on Intelligent Robots and Systems, 2007Co-Authors: Jun Ueda, Thomas W Secord, Harry H AsadaAbstract:The demand for high-force and compact actuators with large strain is increasing in robotics. PZT is known as one of the promising materials for this purpose with respect to bandwidth, stress, and reliability. However, the most critical drawback of PZT is its extremely small strain, i.e. only 0.1 %. This paper presents a nested rhombus structure for strain amplification of PZT stack actuators. This structure provides a "power-law" strain amplification, resulting in over 20 % strain, which is particularly useful for gaining a large strain in a compact body, appropriate for many robotic applications. The Notational Convention and fundamental force-displacement analysis will be presented. In addition, the feasibility of the design concept will be addressed through the design of a proof- of-concept prototype.
Thomas W Secord - One of the best experts on this subject based on the ideXlab platform.
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design of pzt cellular actuators with power law strain amplification
Intelligent Robots and Systems, 2007Co-Authors: Jun Ueda, Thomas W Secord, Harry H AsadaAbstract:The demand for high-force and compact actuators with large strain is increasing in robotics. PZT is known as one of the promising materials for this purpose with respect to bandwidth, stress, and reliability. However, the most critical drawback of PZT is its extremely small strain, i.e. only 0.1 %. This paper presents a nested rhombus structure for strain amplification of PZT stack actuators. This structure provides a "power-law" strain amplification, resulting in over 20 % strain, which is particularly useful for gaining a large strain in a compact body, appropriate for many robotic applications. The Notational Convention and fundamental force-displacement analysis will be presented. In addition, the feasibility of the design concept will be addressed through the design of a proof- of-concept prototype.
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IROS - Design of PZT cellular actuators with power-law strain amplification
2007 IEEE RSJ International Conference on Intelligent Robots and Systems, 2007Co-Authors: Jun Ueda, Thomas W Secord, Harry H AsadaAbstract:The demand for high-force and compact actuators with large strain is increasing in robotics. PZT is known as one of the promising materials for this purpose with respect to bandwidth, stress, and reliability. However, the most critical drawback of PZT is its extremely small strain, i.e. only 0.1 %. This paper presents a nested rhombus structure for strain amplification of PZT stack actuators. This structure provides a "power-law" strain amplification, resulting in over 20 % strain, which is particularly useful for gaining a large strain in a compact body, appropriate for many robotic applications. The Notational Convention and fundamental force-displacement analysis will be presented. In addition, the feasibility of the design concept will be addressed through the design of a proof- of-concept prototype.
Bryan A. Jones - One of the best experts on this subject based on the ideXlab platform.
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Design and kinematic modeling of constant curvature continuum robots: A review
International Journal of Robotics Research, 2010Co-Authors: Robert J Webster, Bryan A. JonesAbstract:Continuum robotics has rapidly become a rich and diverse area of research, with many designs and applications demonstrated. Despite this diversity in form and purpose, there exists remarkable similarity in the fundamental simplified kinematic models that have been applied to continuum robots. However, this can easily be obscured, especially to a newcomer to the field, by the different applications, coordinate frame choices, and analytical formalisms employed. In this paper we review several modeling approaches in a common frame and Notational Convention, illustrating that for piecewise constant curvature, they produce identical results. This discussion elucidates what has been articulated in different ways by a number of researchers in the past several years, namely that constant-curvature kinematics can be considered as consisting of two separate submappings: one that is general and applies to all continuum robots, and another that is robot-specific. These mappings are then developed both for the single-section and for the multi-section case. Similarly, we discuss the decomposition of differential kinematics (the robot's Jacobian) into robot-specific and robot-independent portions. The paper concludes with a perspective on several of the themes of current research that are shaping the future of continuum robotics.
Rosu Grigore - One of the best experts on this subject based on the ideXlab platform.
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K: a Rewrite-based Framework for Modular Language Design, Semantics, Analysis and Implementation - Version 2 -
2006Co-Authors: Rosu GrigoreAbstract:K is an algebraic framework for defining programming languages. It consists of a technique and of a specialized and highly optimized notation. The K-technique, which can be best explained in terms of rewriting modulo equations or in terms of rewriting logic, is based on a first-order representation of continuations with intensive use of matching modulo associativity, commutativity and identity. The K-notation consists of a series of high-level Conventions that make the programming language definitions intuitive, easy to understand, to read and to teach, compact, modular and scalable. One important Notational Convention is based on context transformers, allowing one to automatically synthesize concrete rewrite rules from more abstract definitions once the concrete structure of the state is provided, by .completing. the contexts in which the rules should apply. The K framework is introduced by defining FUN, a concurrent higher-order programming language with parametric exceptions. A rewrite logic definition of a programming language can be executed on rewrite engines, thus providing an interpreter for the language for free, but also gives an initial model semantics, amenable to formal analysis such as model checking and inductive theorem proving. Rewrite logic definitions in K can lead to automatic, correct-by-construction generation of interpreters, compilers and analysis tools
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K: a Rewrite-based Framework for Modular Language Design, Semantics, Analysis and Implementation -Version 1-
2005Co-Authors: Rosu GrigoreAbstract:K is an algebraic framework for defining programming languages. It consists of a technique and of a specialized and highly optimized notation. The K-technique, which can be best explained in terms of rewriting modulo equations or in terms of rewriting logic, is based on a first-order representation of continuations with intensive use of matching modulo associativity, commutativity and identity. The K-notation consists of a series of high-level Conventions that make the programming language definitions intuitive, easy to understand, to read and to teach, compact, modular and scalable. One important Notational Convention is based on context transformers, allowing one to automatically synthesize concrete rewrite rules from more abstract definitions once the concrete structure of the state is provided, by "completing" the contexts in which the rules should apply. The K framework is introduced by defining FUN, a concurrent higher-order programming language with parametric exceptions. A rewrite logic definition of a programming language can be executed on rewrite engines, thus providing an interpreter for the language for free, but also gives an initial model semantics, amenable to formal analysis such as model checking and inductive theorem proving. Rewrite logic definitions in K can lead to automatic, correct-by-construction generation of interpreters, compilers and analysis tools
