Yevgeniy Yesilevskiy

2 accepted papers

2016

Optimal configuration of series and parallel elasticity in a 2D Monoped

Yevgeniy Yesilevskiy, Zhenyu Gan, C. David Remy

ICRA 2016

This paper uses optimal control to simultaneously optimize the motion and morphology of a realistic model of a 2D Monoped. In particular, we compare the energetics of four different actuator configurations: a parallel elastic actuator (PEA) in the hip and a series elastic actuator in the leg (SEA),

Cited by 18 Source ↗Scholar ↗

2015

A comparison of series and parallel elasticity in a monoped hopper

Yevgeniy Yesilevskiy, Weitao Xi, C. David Remy

ICRA 2015poster

In this paper we use optimal control on a geared electric DC motor to compare the energetic efficiency of a simulation of conceptual monoped hoppers with either parallel elastic actuation (PEA) or series elastic actuation (SEA). The energy is measured using three cost functions: positive actuator wo…

Cited by 61 Source ↗Scholar ↗