Super-coiled polymer (SCP) artificial muscles have many interesting properties that show potentials for making high performance bionic devices. To realize human-like robotic devices from this type of actuator, it is important for the SCP driven mechanisms to achieve human-like performance, such as compliant behaviors through antagonistic mechanisms. This paper presents the simultaneous position-stiffness control of an antagonistic joint driven by hybrid twisted-coiled polymer actuation bundles made from Spandex and nylon fibers, which is a common human compliant behavior. Based on a linear model of the system, which is identified and verified experimentally, a controller based on model predictive control (MPC) is designed. The MPC performance is enhanced by the incorporation of time delay estimation to estimate model variations and external disturbances. The controlled system is verified through simulations and experiments. The results show the controller's ability to control the joint angle with the highest position error of 0.6 degrees while changing joint stiffness, verified with step command and sinusoidal reference with composite frequencies of 0.01Hz to 0.1Hz.

Various control strategies using trajectory planning, object recognition and learning are researched for avoiding obstacles when legged robot is walking. In this paper, designed trajectory by using Non Uniform Basis Spline (NUBS) curve and control strategy, by using proposed trajectory, to effectively overcome obstacles are presented. The trajectory designed by NUBS curve has several advantages: 1) local modification, 2) tracking velocity control for each domain, and 3) low degree trajectory with a large number of control points. The robot gets remarkable effectiveness when these advantages are used to generate the trajectory for walking and overcoming obstacles. By implementation of the proposed control strategy, quadruped robot can walk over obstacles while keeping its gait, speed and balance without collision although adjusting relatively preferable state which is more suitable position or posture of the walking robot shortly before encountering obstacles is not required. The proposed trajectory and control strategy are discussed, and performance is validated through experimental evaluations.

A low-volume low-mass low-power ultra-high-frequency radio transceiver for future planetary missions is described. The project targets a volume of less than 10 , mass of less than 50 grams, and power consumption of 50 mW on receive and 100 mW, 300 mW, or 3 W on transmit (for 10 mW, 100 mW, and 1 W output options). The transmitter design supports convolutionally coded binary phase-shift keying (BPSK), RC-BPSK, and quadrature phase-shift keying transmission from 1 to 256 kbps. Command/control instructions can be received at 2 or 8 kbps, with a sensitivity of better than 120 dBm. In addition to its low volume/mass/power features, temperature compensation to 100 C and radiation tolerance to 100 krad allow operation outside of thermally controlled, shielded enclosures, further reducing the mass and complexity of exploration vehicles. The design is described in a top-down format, beginning with system requirements and proceeding through digital modem algorithm development, discussion of the silicon-on-sapphire CMOS process used and elaboration of key blocks in the radio-frequency (RF) integrated circuit design. Techniques to address coupling between high-sensitivity RF and on-chip digital circuits are also presented, and test results are given for prototypes of all major functions. Although designed for the Martian environment, the transceiver is expected to be useful in other proximity links where a small low-power radio compatible with Prox-1 space-link protocols is desired.