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Jasmina Premec

dblp:181/3951 · DBLP profile ↗
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1ranked-venue papers
0as first author
0since 2021 · last 2016
—ORCID · none

Domains — the database's venue-derived domains; a paper can count in several

Artificial intelligence and machine learning · 1Systems, architecture and hardware · 1

Expertise — from the expertise taxonomy: the topics of the expert's papers under the CCF categories. A weight counts papers with recency: 1 for a paper about the topic, 0.3 when the topic is its context, halved every five years.

Artificial intelligence
1 paper
Robot manipulation · 81% Legged, aerial and field robots · 19%
Computer architecture, parallel and distributed computing, and storage systems
1 paper
Energy-efficient computing · 100%

Topics — the 4 heaviest of 4, each with the papers that count most for it

TopicWeightPapersLastEvidence papers
Robotics › Robot manipulation › robot actuation
robot actuator
0.212016
+SPEA introduction: Drastic actuator energy requirement reduction by symbiosis of parallel motors, springs and locking mechanisms · ICRA 2016
Energy-efficient computing
energy-efficient actuation
0.212016
+SPEA introduction: Drastic actuator energy requirement reduction by symbiosis of parallel motors, springs and locking mechanisms · ICRA 2016
Robotics › Robot manipulation › actuator design
energy-efficient actuation
0.112016
+SPEA introduction: Drastic actuator energy requirement reduction by symbiosis of parallel motors, springs and locking mechanisms · ICRA 2016
Robotics › Legged, aerial and field robots
legged robots
0.112016
+SPEA introduction: Drastic actuator energy requirement reduction by symbiosis of parallel motors, springs and locking mechanisms · ICRA 2016

Methods — techniques the papers use, named apart from their topics

parallel motors · 0.5locking mechanisms · 0.5control strategy · 0.5
YearPublicationVenuePosition
2016 +SPEA introduction: Drastic actuator energy requirement reduction by symbiosis of parallel motors, springs and locking mechanisms
abstract
Modern actuation schematics become increasingly ingenious by deploying springs and locking mechanisms in series and/or parallel. Many of these solutions are, however, tailored for a specific application and a general schematic that allows for drastic energy reduction remains a challenge. We have developed a series-parallel elastic actuator (SPEA) based on a symbiosis of multiple motors, springs and locking mechanisms in parallel, which we call +SPEA. This paper introduces the novel +SPEA concept. We present a first prototype, a +SPEA model and a control strategy that optimizes the energy consumption, and experiments to verify the working principle and recruitment strategy. The experiments show a good fit with the model and currently the actuator reduces the required energy in blocked output experiments by more than a factor 4.
Glenn Mathijssen, Raphael Furnemont, Tom Verstraten, Branko Brackx, Jasmina Premec, Rene Jimenez-Fabian, Dirk Lefeber, Bram Vanderborght
ICRA5