BEGIN:VCALENDAR
PRODID:-//University of Illinois//Web Services Calendar//EN
VERSION:2.0
CALSCALE:GREGORIAN
BEGIN:VEVENT
DTSTAMP:20120214T140914Z
DTSTART;TZID=America/Chicago:20061106T160000
DTEND;TZID=America/Chicago:20061106T160000
SUMMARY:CAESAR Seminar: Reza Ghorbani: "Adjustable Stiffness Series Elast
 icity - Towards Efficient Bipedal Walking"
CREATED:20061101T140000Z
DESCRIPTION:ABSTRACT:In this talk\, I will first show several types of ro
 bots which interact with their environments demanding for compliancy in 
 actuation system. I will then explain my previous efforts on force contr
 ol using adjustable compliancy series elastic actuators with electromagn
 etic motor and adjustable stiffness series elasticity. After this\, I wi
 ll explain about our activities on conceptual design of new mechanisms o
 f adjustable stiffness artificial tendons (ASAT). As to prevent the comp
 lexity\, I will present a simplified model of a walking robot. In additi
 on\, as for the bipedal robots for efficient locomotion\, the ASATs have
  been attached at the ankle joint of the robot to study their effects on
  reducing the energy losses during "Collision" phase. In general\, I wil
 l introduce our results out of simulations.By the results\, I will intro
 duce a new simplified model of a bipedal robot to prevent the complexity
  and to study the complete walking cycle. The front leg of the robot inc
 ludes foot\, leg with a locked knee and ASAT at ankle joint. The trailin
 g leg of the robot assumed as a mass less adjustable stiffness spring. A
 SAT stores the energy during "Collision" phase of each step of walking. 
 Then it will return the energy during "Rebound" phase. The potential ene
 rgy stored in trailing leg injects to the robot during double support ph
 ase. Then\, I will demonstrate that velocity of the robot can be control
 led by controlling the energy difference between injecting energy from t
 railing leg and energy losses during "Collision" phase. At the end\, I w
 ill show the results of the simulation and will open the discussion.
LAST-MODIFIED:20061101T140000Z
LOCATION:B02 Coordinated Science Laboratory
CATEGORIES:Seminar
ORGANIZER:japplequ@illinois.edu
URL:http://illinois.edu/calendar/detail/442?key=200001012000010145801
UID:45801@illinois.edu
END:VEVENT
END:VCALENDAR