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Content Provider | IEEE Xplore Digital Library |
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Author | Goldfarb, M. Barth, E.J. Gogola, M.A. Wehrmeyer, J.A. |
Copyright Year | 2003 |
Description | Author affiliation: Dept. of Mech. Eng., Vanderbilt Univ., Nashville, TN, USA (Goldfarb, M.; Barth, E.J.; Gogola, M.A.; Wehrmeyer, J.A.) |
Abstract | This paper describes the design of a liquid-propellant-powered hot-gas actuator appropriate for human-scale power-autonomous robots. A prototype of the actuation system is described, and closed-loop tracking data is shown that demonstrates good motion control. Experiments to characterize the energetic performance of the actuation system indicate that the proposed system with a diluted propellant offers an energetic figure of merit five times greater than a battery-powered by undiluted propellant would offer an energetic figure of merit an order of magnitude greater than battery-powered DC motor actuated systems. |
Sponsorship | IEEE Robotics & Autom. Soc. Nat. Sci. Council, Taiwan, Ministr. Educ., Taiwan |
Starting Page | 188 |
Ending Page | 193 |
File Size | 427317 |
Page Count | 6 |
File Format | |
ISBN | 0780377362 |
ISSN | 10504729 |
DOI | 10.1109/ROBOT.2003.1241594 |
Language | English |
Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher Date | 2003-09-14 |
Publisher Place | Taiwan |
Access Restriction | Subscribed |
Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subject Keyword | Actuators Batteries DC motors Humanoid robots Control systems Power supplies Mobile robots Power generation Energy conversion Propulsion |
Content Type | Text |
Resource Type | Article |
Subject | Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software |
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