39 citations · 154 across the 14 of their papers we have counts for
4 papers · 1 filter
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,…