Title:
Modeling & Characterizing Stochastic Actuator Arrays

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dc.contributor.author MacNair, David L. en_US
dc.contributor.author Ueda, Jun en_US
dc.contributor.corporatename Georgia Institute of Technology. Center for Robotics and Intelligent Machines en_US
dc.contributor.corporatename Georgia Institute of Technology. School of Mechanical Engineering en_US
dc.date.accessioned 2012-01-27T21:12:32Z
dc.date.available 2012-01-27T21:12:32Z
dc.date.issued 2009-10
dc.description ©2009 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. en_US
dc.description Presented at the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 11-15, 2009, St. Louis, USA. en_US
dc.description DOI: 10.1109/IROS.2009.5354645 en_US
dc.description.abstract If the modal response for a single degree of freedom flexible system is known, a command generation architecture can be determined which schedules on/off actuator effort such that the resulting motion will have zero vibration. If the system possesses redundant on/off actuation, the number of possible zero vibration commands increases. Of particular interest is the command that has the minimum number of actuator changes in state. This paper presents how to determine this command and applies it in simulation to a flexible actuator inspired by human muscle. en_US
dc.identifier.citation David MacNair, Jun Ueda, "Modeling & Characterizing Stochastic Actuator Arrays, "2009 IEEE International Conference on Intelligent Robots and Systems (IROS 2009), St. Louis, Missouri, USA, Oct. 11 - 15, 2009. en_US
dc.identifier.isbn 978-1-4244-3803-7
dc.identifier.uri http://hdl.handle.net/1853/42284
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.publisher.original Institute of Electrical and Electronics Engineers en_US
dc.subject Piezoelectric actuators en_US
dc.subject Robustness en_US
dc.subject Arrays en_US
dc.title Modeling & Characterizing Stochastic Actuator Arrays en_US
dc.type Text
dc.type.genre Proceedings
dspace.entity.type Publication
local.contributor.author Ueda, Jun
local.contributor.corporatename Institute for Robotics and Intelligent Machines (IRIM)
local.contributor.corporatename Biorobotics and Human Modeling Lab
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relation.isOrgUnitOfPublication 66259949-abfd-45c2-9dcc-5a6f2c013bcf
relation.isOrgUnitOfPublication 4b66d00b-b98a-41d9-8840-90db5ad3f880
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