Novel regrowth-free vertical active-passive integration scheme with improved fabrication tolerance

We present a novel vertically-coupled active-passive integration architecture that provides an order of magnitude reduction in coupling coefficient variation between misaligned waveguides when compared with a conventional vertically-coupled structure. © 2005 Optical Society of America.

Exploiting passive dynamics for robot throwing task

Throwing is a complex and highly dynamic task. Humans usually exploit passive dynamics of their limbs to optimize their movement and muscle activation. In order to approach human throwing, we developed a double pendulum robotic platform. To introduce passivity into the actuated joints, clutches were included in the drive train. In this paper, we demonstrate the advantage of exploiting passive dynamics in reducing the mechanical work. However, engaging and disengaging the clutches are done in discrete fashions. Therefore, we propose an optimization approach which can deal with such discontinuities. It is shown that properly engaging/disengaging the clutches can reduce the mechanical work of a throwing task. The result is compared to the solution of fully actuated double pendulum, both in simulation and experiment. © 2012 IEEE.

One-legged locomotion with a compliant passive joint

There is an increasing attention of exploiting compliant materials for the purpose of legged locomotion, because they provide significant advantages in locomotion performance with respect to energy efficiency and stability. Toward establishing a fundamental basis for this line of research, a minimalistic locomotion model of a single legged system is explored in this paper. By analyzing the dynamic behavior of the system in simulation and a physical robotic platform, it is shown that a stable locomotion process can be achieved without the necessity of sensory feedback. In addition, further analysis characterizes the relation between motor control and the natural body dynamics determined by morphological properties such as body mass and spring constant. © 2006 The authors.

Mass chains with passive interconnection: Complex iterative maps and scalability

This paper introduces the problem of passive control of a chain of N identical masses in which there is an identical passive connection between neighbouring masses and a similar connection to a movable point. The problem arises in the design of multi-storey buildings which are subjected to earthquake disturbances, but applies in other situations, for example vehicle platoons. The paper will study the scalar transfer functions from the disturbance to a given intermass displacement. It will be shown that these transfer functions can be conveniently represented in the form of complex iterative maps and that these maps provide a method to establish boundedness in N of the H ∞-norm of these transfer functions for certain choices of interconnection impedance. © 2013 IEEE.