9 accepted papers
This letter proposes a method to systematically design a time-independent controller for a desired orbit in phase space. A time-independent controller is essential in robots that physically interact with humans or the environment. An approach to designing such a controller is based on the virtual dy…
This letter proposes a method to systematically design a time-independent controller for a desired orbit in phase space. A time-independent controller is essential in robots that physically interact with humans or the environment. An approach to designing such a controller is based on the virtual dy
A twisted and coiled polymer fiber (TCPF) is a soft thermal actuator increasingly used in current robotics applications. When implementing TCPF in robotics applications, amplifying the TCPF strain and force is necessary to obtain the desired performance. Therefore, this study proposes a mechanism to
This study proposes a novel twisted and coiled polymer fiber (TCPF) actuator fabricated from a polymer-coated optical fiber. The TCPF actuator is a soft actuator that is driven by heating; the TCPF actuator in combination with a cooling system has been widely studied for applications in robotics. Se
This study proposes a low-cost coil-shaped optical fiber (COF) sensor that can be used in the twisted and coiled polymer fiber (TCPF) actuator unit. The TCPF is a thermal-driven artificial muscle with large stroke and large power ratio. To improve its response, several actuator units, which combine
A twisted polymeric fiber (TPF) actuator often referred to as a fishing line/sewing thread artificial muscle, is one of the soft actuators which is made by twisting and heating a nylon fishing line. There are mainly two types of the TPF actuator, one is to make a contraction motion, which is sometim
In this letter, an angular trajectory tracking controller for a twisted polymeric fiber (TPF) actuator by the combination of a model-based feed-forward and estimated temperature feedback is proposed. TPF actuator is one of the soft actuators that can produce a rotational motion, which is made by twi
This letter proposes a feedforward (FF) controller for the twisted and coiled polymer actuator (TCPA), the so-called fishing line/sewing thread artificial muscle, based on its macroscopic nonlinear model. TCPA is an artificial muscle, and it contracts up to 50% in response to heating. Although sever
A novel Kalman filter to estimate the center of mass (COM) of a Humanoid robot is proposed. In the conventional works, COM was estimated by some methods. First one is the kinematics computation based on the mass property of the robot and the global position and attitude of the body frame, but those…