2 papers
cs.RO2024
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…
cs.RO2024
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,…