Glenn Mathijssen — accepted AI-conference papers

2019

Novel Lockable and Stackable Compliant Actuation Unit for Modular +SPEA Actuators

Glenn Mathijssen, Raphaël Furnemónt, Elias Saerens, Manolo Garabini, Manuel Giuseppe Catalano, Dirk Lefeber +2

RA-L 2019

On compliant robotic systems, modularity is recently adopted for the ease of up- and downscaling and the possibility to downgrade the costs, by moving towards the combination of standard units instead of custom designs. However, modularity on the actuator level itself lacks more thorough evaluation.

Cited by 3 Source ↗Scholar ↗

2017

Discrete binary muscle-inspired actuation with motor unit overpowering and binary control strategy

Glenn Mathijssen, Raphael Furnémont, Elias Saerens, Dirk Lefeber, Bram Vanderborght

IROS 2017poster

On novel actuator research in the field of cellular muscle-inspired actuators, skeletal muscles are often used as inspiration due to their modular and compact design and seemingly effortless control. Amongst others, the remaining challenges to tackle are robust designs, energy consumption minimizati…

Cited by 4 Source ↗Scholar ↗

2016

+SPEA introduction: Drastic actuator energy requirement reduction by symbiosis of parallel motors, springs and locking mechanisms

Glenn Mathijssen, Raphael Furnemont, Tom Verstraten, Branko Brackx, Jasmina Premec, Rene Jimenez +2

ICRA 2016

Modern actuation schematics become increasingly ingenious by deploying springs and locking mechanisms in series and/or parallel. Many of these solutions are, however, tailored for a specific application and a general schematic that allows for drastic energy reduction remains a challenge. We have dev

Cited by 29 Source ↗Scholar ↗

2016

Energy Consumption of Geared DC Motors in Dynamic Applications: Comparing Modeling Approaches

Tom Verstraten, Raphael Furnemont, Glenn Mathijssen, Bram Vanderborght, Dirk Lefeber

RA-L 2016

In recent years, many works have appeared, which present novel mechanical designs, control strategies, or trajectory planning algorithms for improved energy efficiency. The actuator model is an essential part of these works, since the optimization of energy consumption strongly depends of the accura

Cited by 59 Source ↗Scholar ↗

2015

A selective recruitment strategy for exploiting muscle-like actuator impedance properties

Joshua Schultz, Glenn Mathijssen, Bram Vanderborght, Antonio Bicchi

IROS 2015poster

Two leading qualities of skeletal muscle that produce good performance in uncertain environments are damage tolerance and the ability to modulate impedance. For this reason, robotics researchers are greatly interested in discovering the key characteristics of muscles that give them these properties…

Cited by 5 Source ↗Scholar ↗

2015

Cylindrical cam mechanism for unlimited subsequent spring recruitment in Series-Parallel Elastic Actuators

Glenn Mathijssen, Raphaël Furnémont, Simon Beckers, Tom Verstraten, Dirk Lefeber, Bram Vanderborght

ICRA 2015poster

Series-Parallel Elastic Actuators (SPEA) enable variable recruitment of parallel springs and variable load cancellation. In previous work, we validated a MACCEPA-based SPEA prototype with a self-closing intermittent mechanism, to reduce motor load and improve energy efficiency. However, the mechanis…

Cited by 23 Source ↗Scholar ↗

2015

Investigation of self-healing compliant actuators for robotics

Seppe Terryn, Glenn Mathijssen, Joost Brancart, Guy Van Assche, Bram Vanderborght, Dirk Lefeber

ICRA 2015poster

Last 15 years, a wide range of self-healing (SH) materials has been developed and recently these materials are increasingly used in applications in multiple fields, like the automotive industry and aerospace. However, so far this material technology is not yet explored in robotics. The introduction…

Cited by 22 Source ↗Scholar ↗

2015

Torsion MACCEPA: A novel compact compliant actuator designed around the drive axis

Raphaël Furnémont, Glenn Mathijssen, Tom van der Hoeven, Branko Brackx, Dirk Lefeber, Bram Vanderborght

ICRA 2015poster

The Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator (MACCEPA) is a Variable Stiffness Actuator (VSA) where both equilibrium position and stiffness of the actuator can be controlled independently. It uses only one linear spring and has a simple design but its compact…

Cited by 31 Source ↗Scholar ↗