2 papers
eess.SY2021
Low-Input Accurate Periodic Motion of an Underactuated Mechanism: Mass Distribution and Nonlinear Spring Shaping
Andrea Tilli, Elena Ruggiano, Alessandro Bosso +1
This work presents a control-oriented structural design approach for a 2-DOF underactuated mechanical system, with the purpose of generating an optimal oscillatory behavior of the…
eess.SY2020
Periodic Motion Optimization for an Underactuated Mechanical System through Synergistic Structure-Control Design
Andrea Tilli, Alessandro Bosso, Elena Ruggiano +1
In this work, we present the integrated structure-control design of a 2-DOF underactuated mechanical system, aiming to achieve a periodic motion of the end-effector. The desired be…