4 citations · 4 across the 3 of their papers we have counts for
4 papers
Model-Based Galerkin Lifting with Exact LTI Decomposition for Guaranteed Output Feedback Control of Nonlinear Systems
Burak Kurkcu, Christopher Phan, Aleksandar Zecevic +1
In this paper, we present a model-based Galerkin framework for output-feedback control of nonlinear systems with known dynamics. With a suitable actuator augmentation, the finite-d…
Frequency Domain Analysis of Nonlinear Series Elastic Actuator via Describing Function
Motohiro Hirao, Burak Kurkcu, Alireza Ghanbarpour +1
Nonlinear stiffness SEAs (NSEAs) inspired by biological muscles offer promise in achieving adaptable stiffness for assistive robots. While assistive robots are often designed and c…
Control of Soft Pneumatic Actuators with Approximated Dynamical Modeling
Wu-Te Yang, Burak Kurkcu, Motohiro Hirao +5
This paper introduces a full system modeling strategy for a syringe pump and soft pneumatic actuators(SPAs). The soft actuator is conceptualized as a beam structure, utilizing a se…
Optimized Design of a Soft Actuator Considering Force/Torque, Bendability, and Controllability via an Approximated Structure
Wu-Te Yang, Burak Kurkcu, Masayoshi Tomizuka
This paper introduces a novel design method that enhances the force/torque, bendability, and controllability of soft pneumatic actuators (SPAs). The complex structure of the soft a…