Inman R. Harvey

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Developing real robots that can exploit dynamic interactions with the environment requires the use of actuators whose behaviour can vary from high stiffness to complete compliance or zero impedance. We will outline our design for an electric actuator, called a programmable spring, which can be easily configured using a high level programming interface to(More)
Models that demonstrate environmental regulation as a consequence of organism and environment coupling all require a number of core assumptions. Many previous models, such as Daisyworld, require that certain environment-altering traits have a selective advantage when those traits also contribute towards global regulation. We present a model that results in(More)
Conventional approaches to actuation and motion control are designed to eliminate any perturbations from the system and provide smooth precise control of speed or position and a high level of stiffness. By contrast, emerging approaches to autonomous robotics rely on exploiting the environment to aid motion. In passive dynamic systems motion is modulated by(More)
6.0 Experiment 2: 6.1 Evolving coil switching pattern generators for a brushless DC motor 6.2 Brushless Motors – principles of operation 6.3 Experimental setup 6.4 Power driver design 6.5 Fitness function 6.6 Problems and issues that arose during testing 6.7 Evolving a controller for a fully functioning motor 6.8 Evolving a controller with random coil(More)
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