7 accepted papers
The discovery of ocean worlds such as Enceladus, Titan, and Europa motivates the development of versatile autonomous mobility systems to enable the next era of space exploration where there is large uncertainty in terrain specifications due to a lack of prior surface reconnaissance missions. To expl…
This paper outlines a novel versatile geometric method for the estimation of the efficiency of multistage compound planetary gearboxes. The approach is based on a virtual pitch point modeling that allows for accurate representation of the gear interaction with forces applied at the pitch point. When…
Given the recent proliferation of false claims online, there has been a lot of manual fact-checking effort. As this is very time-consuming, human fact-checkers can benefit from tools that can support them and make them more efficient. Here, we focus on building a system that could provide such suppo…
This paper develops new methods to design high performance rotary series elastic actuator springs for robotics applications. The approach is based on a spring arm mathematical model that was previously introduced by the authors. The key contribution is the development of an optimization-based design…
The Axel rappelling rover was designed to enable access to intriguing and important science sites that lie in difficult terrains that are inaccessible to conventional rovers. Extended autonomous rappelling calls for careful control of tether tension, precise management of tether spooling, and some m…
This paper is concerned with the analysis, design, and prototyping of rotary planar springs for robotics applications such as rotary series elastic actuators, or mechanical couplings. The key contribution is the development of a mathematical model, based on curved beam theory, that allows rapid desi…
High performance legged and mobile manipulating robotic platforms require light weight actuators with high torque density, efficiency, and accuracy. This paper introduces a new type of high reduction bearingless gearbox which is based on a gearbox with double-row planetary pinion, and can achieve hi…