6 accepted papers
In this letter: (1) We present a novel human-in-the-loop adaptation method for whole arm muscles’ effort minimization by means of weight compensation in the face of an object with an unknown mass. (2) This adaptation rule can also be used as a cognitive model for the identification of mass va
Having an appropriate flapping path to yield efficient propulsion is an interesting issue in fish robotics. In most works, especially two-segmental structures, the flapping motion is limited to sinusoidal functions. In this paper, to cope with the aforementioned limitation, a conceptual non-sinusoid…
Developing analytical models of efficient locomotion in biology is one of the most interesting goals in bio- inspired robotics. This paper presents a mathematical framework in order to model one of the most energy efficient locomotion types in flying animals; i.e., thermal soaring. Unlike the legged…
Albatross has an energy efficient flying pattern (dynamic soaring) among seabirds. This interesting point encourages us to exploit its flying natural dynamics so as to control the flying robots on energy efficient and robust gaits. In doing so, we study the albatross dynamic soaring from analytical…
In this paper, we propose a new method for implementing a rotational nonlinear spring with user defined profile, based on the combination of a linear spring with a nonlinear transmission mechanism. The proposed structure consists of a non-circular cam, a roller which moves along outer circumference…
In this paper, we present the dynamical equations of a nonlinear adaptive natural oscillator (NANO) in order to exploit the natural dynamics in robotic systems. The presented oscillator tries to minimize an energy-based cost function by adapting the shape and frequency of the reference trajectory. S…