Cable-Driven Actuation for Highly Dynamic Robotic Systems

This paper presents design and experimental evaluations of an articulated robotic limb called Capler-Leg. The key element of Capler-Leg is its single-stage cable-pulley transmission combined with a high-gap radius motor. Our cable-pulley system is designed to be as light-weight as possible and to additionally serve as the primary cooling element, thus significantly increasing the power density and efficiency of the overall system. The total weight of active elements on the leg, i.e. the stators and the rotors, contribute more than 60% of the total leg weight, which is an order of magnitude higher than most existing robots. The resulting robotic leg has low inertia, high torque transparency, low manufacturing cost, no backlash, and a low number of parts. Capler-Leg system itself, serves as an experimental setup for evaluating the proposed cable- pulley design in terms of robustness and efficiency. A continuous jump experiment shows a remarkable 96.5 % recuperation rate, measured at the battery output. This means that almost all the mechanical energy output used during push-off returned back to the battery during touch-down

The Evolving Concept of European Labor Relations Legislation

The subject of worker participation in the decision-making process has become one of the major topics in the developing area of EEC labor law. The EEC Treaty, however, does not provide the direct legal basis for the introduction of worker participation legislation by the Community. The Commission, therefore, has concentrated on harmonizing the company legislation of the Member States in its drive to develop a European labor legislation. In this article, Dr. Kolvenbach surveys the existing company legislation in the Member States dealing with worker participation and discusses the recent harmonization proposals of the Commission. He then concludes by supporting the harmonization efforts as the most practical means of achieving the goal of a European labor law

El servicio de la fe y la promoción de la justicia en la educación universitaria

Las 28 universidades y centros de estudios superiores de la Compañía de Jesús en Estados Unidos celebraron una conferencia sobre “El compromiso por la justicia en la educación superior de la Compañía”, del 5 al 8 de octubre de 2000, en la Universidad de Santa Clara, California, para conmemorar el 25 aniversario del decreto 4 de la Congregación General 32 de la Compañía de Jesús, y reflexionar sobre su impacto en el apostolado universitario de la Compañía en Estados Unidos. Los 420 participantes, incluyendo muchos altos dirigentes, adoptaron el discurso del padre general como la base en la cual habría que planificar la educación para la justicia en cada centro universitario.ITESO, A.C