Edgar A. Bolívar-Nieto — accepted AI-conference papers

2021

Convex Optimization for Spring Design in Series Elastic Actuators: From Theory to Practice

Edgar A. Bolívar-Nieto, Gray C. Thomas, Elliott Rouse, Robert D. Gregg

IROS 2021poster

Natural dynamics, nonlinear optimization, and, more recently, convex optimization are available methods for stiffness design of energy-efficient series elastic actuators. Natural dynamics and general nonlinear optimization only work for a limited set of load kinetics and kinematics, cannot guarantee…

Cited by 9 Source ↗Scholar ↗

2020

Extremum Seeking Control for Stiffness Auto-Tuning of a Quasi-Passive Ankle Exoskeleton

Saurav Kumar, Matthew Richard Zwall, Edgar A. Bolívar-Nieto, Robert D. Gregg, Nicholas R. Gans

RA-L 2020

Recently, it has been shown that light-weight, passive, ankle exoskeletons with spring-based energy store-and-release mechanisms can reduce the muscular effort of human walking. The stiffness of the spring in such a device must be properly tuned in order to minimize the muscular effort. However, thi

Cited by 36 Source ↗Scholar ↗