6 citations · 6 across the 3 of their papers we have counts for
3 papers
cs.RO2022
A Bimodal Hydrostatic Actuator for Robotic Legs with Compliant Fast Motion and High Lifting Force
Alex Lecavalier, Jeff Denis, Jean-Sébastien Plante +1
Robotic legs have bimodal operations: swing phases when the leg needs to move quickly in the air (high-speed, low-force) and stance phases when the leg bears the weight of the syst…
cs.RO2022★ 6 cited
A practical optimal control approach for two-speed actuators
Alexandre Girard, H. Harry Asada
This paper addresses the closed-loop control of an actuator with both a continuous input variable (motor torque) and a discrete input variable (mode selection). In many application…
cs.RO2022
A Fast Gear-Shifting Actuator for Robotic Tasks with Contacts
Alexandre Girard, H. Harry Asada
Vehicle power-trains use a variable transmission (multiple gear-ratios) to minimize motor size and maximize efficiency while meeting a wide-range of operating points. Robots could…