Raphaël Furnémont — accepted AI-conference papers

2020

Scaling laws for parallel motor-gearbox arrangements

Elias Saerens, Stein Crispel, Pablo López García, Vincent Ducastel, Jarl Beckers, Joris De Winter +4

IROS 2020poster

Research towards (compliant) actuators, especially redundant ones like the Series Parallel Elastic Actuator (SPEA), has led to the development of drive trains, which have demonstrated to increase efficiency, torque-to-mass-ratio, power-to-mass ratio, etc. In the field of robotics such drive trains c…

Cited by 3 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

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 ↗