Control of biomorphic systems with singular perturbations. - In: Proceedings, ISBN 978-954-20-0550-6, (2012), S. 87-93
An approach to locomotion systems based on 3D tensegrity structures with a minimal number of struts. - In: ROBOTIK 2012, (2012), S. 150-155
http://ieeexplore.ieee.org/document/6309498/
Piezo-driven micro robots for different environments: prototypes and experiments. - In: ROBOTIK 2012, (2012), S. 41-45
We report recent efforts in the design and construction of micro robots for the two-dimensional locomotion in different environments. Amphibious robots are presented, which can perform locomotion on smooth terrain as well as on the free surface of liquids. The working principle of this kind of robots deploys forced vibration of continua, which are excited by a single piezoelectric actuator with frequencies in range of 0.1 - 100 kHz. The direction of motion can be controlled by the excitation frequency of the actuation element using resonance effects. A computational model and simulations are given to describe this dependency. The design and motion principle of prototypes are described and experimental results are given. Furthermore, the maximum mass of an amphibious robot is calculated for a set of parameters.
http://ieeexplore.ieee.org/document/6309478/
K opisaniju mechaničeskich svojstv fanery na baze modeli linejno-uprugogo ortotropnogo materiala :
A contribution to the description of the mechanical behaviour of veneer using a linear-elastic orthotropic material model. - In: Problems of mechanics, ISSN 1512-0740, (2012), No. 4(49), Seite 11-21
Modelling of non-contact ultrasonic motor by means of boundary element method. - In: IEEE International Ultrasonics Symposium (IUS), 2012, ISBN 978-1-4673-4561-3, (2012), S. 2722-2725
http://dx.doi.org/10.1109/ULTSYM.2012.0682
Gait generation and adaptive control in artificial worm dynamics. - In: The 2nd Joint International Conference on Multibody System Dynamics, IMSD, (2012), S. 337-338
Control of motion of limbless one-dimensional locomotion systems in a resistive medium. - In: The 2nd Joint International Conference on Multibody System Dynamics, IMSD, (2012), S. 327-328
On the probability of the outcomes in buckling of an elastic beam. - In: Regular and chaotic dynamics, ISSN 1468-4845, Bd. 17 (2012), 6, S. 506-511
http://dx.doi.org/10.1134/S1560354712060032
Design of a miniaturized locomotion system with variable mechanical compliance based on amoeboid movement. - In: 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2012, ISBN 978-1-4577-1199-2, (2012), S. 1060-1065
This paper describes a novel biologically inspired locomotion system. The main advantages of amoeboid movement are implemented in a magnetically actuated compliant vibration driven system. The locomotion of the system is based on the periodic deformation of an elastomeric structure including segments with reversible variable mechanical compliance. The movement direction is defined by an asymmetric configuration of the elastomeric structure induced by segments with differing mechanical compliance. The working principle of the system is discussed with the help of modal and transient dynamic analyses. Based on the numerical simulations, two prototypes are developed and verified with experimental tests.
http://dx.doi.org/10.1109/BioRob.2012.6290779
On the mechanical compliance of technical systems. - In: Mechanical engineering, ISBN 978-953-51-0505-3, (2012), S. 341-352
In the safe physical human-machine interaction the compliance of technical systems is an elementary requirement. The physical compliance of technical systems can be provided either by control functions implementation and/or intrinsic by structural configuration and material properties optimization. The latter is advantageous because of higher reliability as well as general simplicity of the design and production technologies. In the paper we focus on mechanical systems with intrinsic mechanical compliance. In general the deformability of structures is primarly characterised by their stiffness. Compliant mechanisms are mechanisms, whose functionality is based on its deformability. The goal of each engineer is by the design of mechanisms the setting of compliance depending upon the purpose of its application. It should be considered, that the compliance is dependent on a variety of parameters. The optimal design of these mechanisms can be realized only with precise knowledge of the influence parameters and possible types of compliance.
http://dx.doi.org/10.5772/26379