Smart Structures: Analysis and Design
Smart Structures: Analysis and Design
Reliability of Computer Systems and Networks: Fault Tolerance,Analysis,and Design
Reliability of Computer Systems and Networks: Fault Tolerance,Analysis,and Design
Cosine tuning minimizes motor errors
Neural Computation
Biomimetic actuators in prosthetic and rehabilitation applications
Technology and Health Care - Actuators for artificial limbs
Optimal robot arm control using the minimum variance model
Journal of Robotic Systems
Broadcast Feedback of Stochastic Cellular Actuators Inspired by Biological Muscle Control
International Journal of Robotics Research
Modeling & characterizing stochastic actuator arrays
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Piezoelectric Actuators and Ultrasonic Motors
Piezoelectric Actuators and Ultrasonic Motors
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In this paper we present a â聙聵fingerprint methodâ聙聶 for modeling and subsequently characterizing stochastically controlled actuator arrays. The actuator arrays are built from small actuator cells with structural elasticity. These cells are controlled using a bistable stochastic process wherein all cells are given a common input probability (control) value which they use to determine whether to actuate or relax. Arranging the cells in different networks gives different actuator array properties, which must be found before the actuator arrays can be applied to manipulators. The fingerprint method is used to describe and automatically generate every possible stochastic actuator array topology for a given number of cells, and to calculate actuator array properties such as: travel, required actuator strength/displacement, force range, force variance, and robustness for any array topology. The properties of several illustrative examples are shown and a discussion covers the importance of the properties, and trends between actuator array layouts and their properties. Finally, results from a validation experiment using a stochastically controlled solenoid array are presented.