Fradkov Theorem-Based Control of MIMO Nonlinear Lurie Systems

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Computational Design of Reconfigurable Underactuated Linkages for Adaptive Grippers

We present an optimization-based structural-parametric synthesis method for reconfigurable closed-chain underactuated linkages for robotic systems that physically interact with the environment with an emphasis on adaptive grasping. The key idea is to implement morphological computation concepts to keep both necessary trajectory-specific holonomic constraints and mechanism adaptivity using variable length links (VLL), while we evolve from a fully actuated to an underactuated system satisfying imposed design requirements. It allows to minimize the number of actuators, weight, and cost but keep high payload and endurance that are not reachable by tendon-driven designs. Despite the method is general enough, for clarity, we demonstrate its use on a number of finger mechanisms for adaptive grippers

Study on Elastic Elements Allocation for Energy-Efficient Robotic Cheetah Leg

The biomimetic approach in robotics is promising: nature has found many good solutions through millions of years of evolution. However, creating a design that enables fast and energy-efficient locomotion remains a major challenge. This paper focuses on the development of a full leg mechanism for a fast and energy-efficient 4-legged robot inspired by a cheetah morphology. In particular, we analyze how the allocation of flexible elements and their stiffness affects the cost of transport and peak power characteristics for vertical jumps and a galloping motion. The study includes the femur and full leg mechanism's locomotory behavior simulation, capturing its interaction with the ground