Graphics enhanced version of this site

Actuator with Mechanically Adjustable Series Compliance (AMASC)
Head: Alfred Rizzi
Contact: Jonathan W Hurst (jhurst@cmu.edu)

Mailing address:
Carnegie Mellon University
Robotics Institute
5000 Forbes Avenue
Pittsburgh, PA 15213

Associated lab/group: Microdynamic Systems Laboratory

For more information, see this project's homepage.

Our long-term goal is to develop robots that are capable of running, jumping, and stumble recovery, while being energetically efficient. The Actuator with Mechanically Adjustable Series Compliance (AMASC) is an actuation method that utilizes a large physical spring capacity and variable compliance, to enable such highly dynamic gaits.

Name - Title <Email Address>
• [Home] Jonathan W Hurst - PhD Student, RI <jhurst@cmu.edu>

Note: This list may not be comprehensive. It contains only those publications in the RI publications database. Entries are listed in reverse chronological order.

• A Policy for Open-Loop Attenuation of Disturbance Effects Caused by Uncertain Ground Properties in Running
  J.W. Hurst, B. Morris, J. Chestnutt, and A. Rizzi
  IEEE Conference on Robotics and Automation, April, 2007. [Abstract]
  Download: pdf [162 KB], ps.gz [128 KB] copyrighted

• Design and Philosophy of the BiMASC, a Highly Dynamic Biped
  J.W. Hurst, J. Chestnutt, and A. Rizzi
  IEEE Conference on Robotics and Automation, April, 2007. [Abstract]
  Download: pdf [386 KB], ps.gz [928 KB] copyrighted

• Physically Variable Compliance in Running
  J.W. Hurst and A. Rizzi
  CLAWAR, SPRINGER-VERLAG, www.springeronline.com, September, 2004. [Abstract]
  Download: pdf [118 KB], ps.gz [155 KB] copyrighted

• An Actuator with Physically Variable Stiffness for Highly Dynamic Legged Locomotion
  J.W. Hurst, J. Chestnutt, and A. Rizzi
  Proceedings of the 2004 International Conference on Robotics and Automation, Vol. 5, May, 2004, pp. 4662 - 4667. [Abstract]
  Download: pdf [758 KB] copyrighted

• An Actuator with Mechanically Adjustable Series Compliance
  J.W. Hurst, J. Chestnutt, and A. Rizzi
  tech. report CMU-RI-TR-04-24, Robotics Institute, Carnegie Mellon University, April, 2004. [Abstract]
  Download: pdf [663 KB], ps.gz [856 KB] copyrighted