39 citations · 154 across the 14 of their papers we have counts for
14 papers
Influence Vectors Control for Robots Using Cellular-like Binary Actuators
Alexandre Girard, Jean-Sébastien Plante
Robots using cellular-like redundant binary actuators could outmatch electric-gearmotor robotic systems in terms of reliability, force-to-weight ratio and cost. This paper presents…
Soft Two-degree-of-freedom Dielectric Elastomer Position Sensor Exhibiting Linear Behavior
Alexandre Girard, Jean-Philippe Lucking Bigué, Benjamin M. O'Brien +3
Soft robots could bring robotic systems to new horizons, by enabling safe human-machine interaction. For precise control, these soft structures require high level position feedback…
A two-speed actuator for robotics with fast seamless gear shifting
Alexandre Girard, H. Harry Asada
This paper present a novel dual-speed actuator adapted to robotics. In many applications, robots have to bear large loads while moving slowly and also have to move quickly through…
Leveraging Natural Load Dynamics with Variable Gear-ratio Actuators
Alexandre Girard, H. Harry Asada
This paper presents a robotic system where the gear-ratio of an actuator is dynamically changed to either leverage or attenuate the natural load dynamics. Based on this principle,…
Dimensionless Policies based on the Buckingham Theorem: Is This a Good Way to Generalize Numerical Results?
Alexandre Girard
The answer to the question posed in the title is yes if the context (the list of variables defining the motion control problem) is dimensionally similar. This article explores the…
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…
Low-Level Force-Control of MR-Hydrostatic Actuators
Jeff Denis, Jean-Sebastien Plante, Alexandre Girard
Precise and high-fidelity force control is critical for new generations of robots that interact with humans and unknown environments. Mobile robots, such as wearable devices and le…
Multimodal Hydrostatic Actuators for Wearable Robots: A Preliminary Assessment of Mass-Saving and Energy-Efficiency Opportunities
Jeff Denis, Alex Lecavalier, Jean-Sebastien Plante +1
Wearable robots are limited by their actuators performances because they must bear the weight of their own power system and energy source. This paper explores the idea of leveragin…
A Lightweight Force-Controllable Wearable Arm Based on Magnetorheological-Hydrostatic Actuators
Catherine Véronneau, Jeff Denis, Louis-Philippe Lebel +3
Supernumerary Robotic Limbs (SRLs) are wearable robots augmenting human capabilities by acting as a co-worker, reaching objects, support human arms, etc. However, existing SRLs lac…
Performance Study of Low Inertia Magnetorheological Actuators for Kinesthetic Haptic Devices
Louis-Philippe Lebel, Jean-Alexis Verreault, Jean-Philippe Lucking Bigué +2
A challenge to high quality virtual reality (VR) simulations is the development of high-fidelity haptic devices that can render a wide range of impedances at both low and high freq…
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…
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…
Controller design and experimental evaluation of a motorised assistance for a patient transfer floor lift
Donatien Callon, Ian Lalonde, Mathieu Nadeau +1
Patient transfer is a challenging, critical task because it exposes caregivers to injury risks. Available transfer devices, like floor lifts, lead to improvements but are far from…
Experimental investigation of a maneuver selection algorithm for vehicles in low adhesion conditions
Olivier Lecompte, William Therrien, Alexandre Girard
Winter conditions, characterized by the presence of ice and snow on the ground, are more likely to lead to road accidents. This paper presents an experimental proof of concept, wit…