Hongnian Yu

2 accepted papers

2018

Energy-Efficient Design and Control of a Vibro-Driven Robot

Pengcheng Liu, Gerhard Neumann, Qinbing Fu, Simon Pearson, Hongnian Yu

IROS 2018poster

Vibro-driven robotic (VDR) systems use stick-slip motions for locomotion. Due to the underactuated nature of the system, efficient design and control are still open problems. We present a new energy preserving design based on a spring-augmented pendulum. We indirectly control the friction-induced st…

Cited by 24 Source ↗Scholar ↗

2016

Modelling and dynamic analysis of underactuated capsule systems with friction-induced hysteresis

Pengcheng Liu, Hongnian Yu, Shuang Cang

IROS 2016poster

This paper studies modelling and dynamic analysis of underactuated capsule systems exhibiting friction-induced hysteresis. The motion mechanism is novel in utilizing internal centripetal torques generated by a vibration micro-motor mounted on the platform. Up to now, most investigations in frictiona…

Cited by 25 Source ↗Scholar ↗