On the Design and Test of a Prototype of Biped Actuated by Shape Memory Alloys

8/17/2019 On the Design and Test of a Prototype of Biped Actuated by Shape Memory Alloys

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Cntfrnetcmneg @murneg mi _momtcks, Ymg.?, Nm.5, (?255)/E. Tmhcdc, L. L.Lmjheddel, E. Hedc

5?

Mn thf Dfscjn end Tfst mi e Rrmtmtypf mi Ocpfd

Ektuetfd oy [hepf Lflmry Eggmys

Elcn Tmhcdce, Le`cd L. Lmjheddel

e end Egcrfze Hedc

o

e- Elcn Tmhcdc0 Lfkhenckeg Fnjcnffrcnj Dfpt., Terocet Lmderfs Vncvfrscty, Tfhren, 54556-555, C_EN Tfg0 +38 ?5 8?8;;681 F-lecg0

elcntmhcdcB lmderfs.ek.cr, end l.lmjhedelB lmderfs.ek.cr

o- Egcrfze Hedc, Rh.D. Jreduetf, Vncvfrscty mi Tfhren, F-lecg0 hrhedcBut.ek.cr

E _ T C K G F C N I M E O [ T _ E K TAfywmrds0 Ocpfd rmomt,

[LE Ektuetmr

6DMIs

Cn thcs pepfr thf dfscjn mi e ocpfd rmomt ektuetfd wcth [hepf Lflmry Eggmy

([LE) sprcnjs wcth lcnclul dfjrffs mi irffdml cs prfsfntfd. [LE sprcnjs erf e

kgess mi slert letfrcegs thet erf anmwn imr thfcr hcjh pmwfr tm less end vmgulf

retcms. Ct wes shmwn thet utcgczcnj sprcnj typf mi [LEs hevf leny edventejfs es

gerjf dfimrletcmn, slmmth lmtcmn, scgfnt end kgfen lmvflfnt kmlperfd tm

mrdcnery typf mi ektuetmrs. Cn thcs wmra e Ocpfd rmomt ektuetfd thrmujh [LE

sprcnjs wcth imur DMIs cs lmdfgfd end dfscjnfd. Zegacnj tre`fktmry cs jfnfretfd

vegcdetcnj thf Pfrm Lmlfnt Rmcnt (PLR) Krctfrce end thf nulofr mi DMIs cs

lmdcicfd ekkmrdcnjgy. Tm vfrciy thf dfscjn, ekmlpgftf lmdfg mi thf ocpfd

ektuetfd wcth [LE cs lmdfgfd thrmujh kmlputfr sclugetcmn cn LETGEO end

Ycsueg Nesteren. Icneggy tm vegcdetf thf rfsugts, e prmtmtypf cs lenuiekturfd end

tfstfd. Fxpfrclfnteg rfsugts shmwfd rfesmneogf ejrfflfnt wcth sclugetcmn rfsugts.

5. Cntrmduktcmn

Lmst mi ocpfd wegacnj rmomts kmnscsts mi ektuetmrs

(hfevy sfrvmlmtmrs), trenslcsscmn systfls (jferomx)

end leny DMIs tm gmkmlmtetf (Q5, ?, ;\), rfsugtcnj cnrfgetcvfgy hfevy (end gerjf) wegacnj rmomts.

_fkfntgy, lcnceturczetcmn end sclpgcicketcmn mi rmomts

hes rfkfcvfd cnkrfescnj ettfntcmn imr lugtc-purpmsf usf.Cn pertckuger, thf sclpgcicketcmn mi ocpfd wegacnj rmomts

cs en cntfrfstcnj end kheggfnjcnj prmogfl. Thf icrst stfp

mi sclpgcicketcmn cs tm dfgftf fxtre perts mr unnfkfssery

DMIs. Es wf anmw, nmnf mi thf fxcstcnj ocpfd wegacnjrmomts cs undfr : DMIs. Cn thcs pepfr, wf prfsfnt e

wegacnj rmomt thet gmkmlmtf thrmujh mngy6 DMIs.Iurthfr, tm rfdukf thf sczf end wfcjht mi thf rmomt, wfdfkcdfd tm usf thf [LE oesfd sprcnj letfrcegs tm

ektuetf thf gfjs mi thf ocpfd.[LE kmlpmsctfs erf kgess

mi slert letfrcegs thet erf anmwn imr thfcr hcjh pmwfr

tm less end vmgulf retcms. Thfsf ektuetmrs hevf lenyedventejfs es gerjf dfimrletcmn, slmmth lmtcmn, scgfnt

end kgfen lmvflfnt. Thfsf typfs mi ektuetmr dmn–t

nffd eny guorcketcmn mr prmtfktcmn irml dust.

[mn end Oul cn ?225 cntrmdukf e quedrupfd rmomt wcth

[LE wcrf ektuetmrs, [LEs cs usfd cn reka end pcncmn

lfkhencsl tm trensifr imrkf tm spffd Q4\. Gcu end Gcemcn ?224 usfd [LEs cn e sneaf rmomt eogf tm khenjf cn

gfnjth wcth sfvfreg lmdugfs Q6\. Ncshcde cn ?229 tfstfd

icrst prmtmtypf mi ocpfd rmomt wcth [LE ektuetmrs. Cn

iekt, thcs rmomt sgcdcnj mn suriekf end ken't tm gmkmletfQ9\. Fsiehenc cn ?22: dfscjnfd `mcnt ektuetfd oy [LEs,

sucteogf imr ocpfd rmomt, out nfvfr lenuiekturcnj e

prmtmtypf Q:\. Vrete end Smshcaec studcfd mn e `mcnt thet

sujjfstfd imr quedrupfd Q8\. Ekkmrdcnj tm prfvcmus

wmras, up tm nmw, nm ocpfd rmomt ektuetf oy [LEs theteogf tm gmkmletf nmt cntrmdukfd. Hmwfvfr, thf kmntrmgs

mi thf [LEs erf e ocj kheggfnjf spfkceggy imr wegacnjrmomt eppgcketcmns. Cn thcs wmra, thf mn/mii (swctkhcnj)

lfthmd cs clpgflfntfd imr thf kmntrmg purpmsfs. Thf

lfthmd utcgczfs thf enjuger pmsctcmn mi thf `mcnts end

kmlpfnsetfs thf frrmrs mi thf [LE pmsctcmn tm lmvfthf gfjs mi thf ocpfd.


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5;

Icj. 50 Lmdugf perts

?. Thf _momt Dfscjn

Thf dfscjn mi thf rmomt kmnscsts mi twm perts0

lfkhenckeg dfscjn end fgfktrckeg dfscjn. Thf

lfkhenckeg dfscjn cs dcvcdfd tm twm perts oy ctsfgi0 thf

lmdugf end thf omdy dfscjn.

Icj. ?0 Thf lenuiekturfd lmdugf

?.5. Thf Lmdugf Dfscjn

Thfrf erf smlf studcfs mn [LE lmdugf (`mcnt), Q6, 3\.

Gcu end Gcem cntrmdukf e lmdugf wcth mnf DMI, Q6\.Thcs lmdugf cs vfry sclpgf out thf dfigfktcmn cs gclctfdend ct hes `ust mnf DMI, out gmkmlmtcmn nffds et gfest

twm DMIs. Scnj end Zenj prfsfntfd e twm DMIs

lmdugf thet rfvmgvfd cn tm pgenf Q3\, thcs lmdugf hes

hcjh gmst mi fnfrjy ofkeusf mi ircktcmn cn kmntekt mi[LE wcndcnj mn dcsa. Tm prmvcdf twm DMIs, gerjf

dfigfktcmn end rfdukf ircktcmn, Hedc dfvfgmpfd thf

Ifgfxcomt whckh cs shmwn cn Icj.5, Q52\. Icj.? shmws

thf lenuiekturfd lmdugf.

Thcs lmdugf kmnscst mi : perts, twm iget pgetf, twm V

perts thet leaf uncvfrseg lmtcmn, twm enjuger sfnsmr tmdftfkt pmsctcmn, [LE kmnnfktcmns end rfsfrvfd spekf

imr fgfktrckeg omerds. Thcs lmdugf hes spekf wmra

oftwffn + ;2 dfj tm -;2 dfj cn fekh rfvmgutcmn pgen.

Dmuogf kmupgf mi Hedc–s lmdugf wes usfd cn thcs ocpfdes hcp m̀cnts. Fekh `mcnt hes ? DMIs end 9 [LEs.

?.5.Thf Omdy Dfscjn

Et icrst e lfkhencsl mi gmkmlmtcmn wcth `ust imur

DMIs wes prmpmsfd, out ct wes imund thet e lfkhencsl

wcth gfss then icvf DMIs cs nmt epprmprcetf tm gmkmletfthf systfl . Eddcnj e sgcdcnj pert mn tmp mi thf 4DMIs

rmomt, thf drewoekas mi thf lmtcmn wes smgvfd. Thf

rmomt kmnscsts mi scx perts, twm lmdugfs, twm gfjskmnnfktfd tm thf lmdugfs, e sgcdfr end ifw [LEs. Thf

sgcdfr wfcjht cs usfd tm trensifr thf kfntfr mi thf jrevcty

mi thf ocpfd. E rcjcd ogmka sgcdcnj mn e oer cs usfd imr

thcs kesf, hmwfvfr, cn prektckf ct ken of rfpgekfd wcthkelfre, oettfry peka, end mthfr dfvckfs. Icj. ; shmws

thf ocpfd cnkgudcnj thf ektuetmr lmdugfs end thf sgcdcnj

wfcjht KMJ kmlpfnsetmr.

Icj. ;0 _momt dfscjn

?.; Thf Fgfktrckeg DfscjnThf ogmka dcejrel mi thf lmdugf–s fgfktrckeg herdwerf

cs shmwn cn Icj. 4. Ct cnkgudfs e lckrmkmntrmggfr

(ETLFJE;?), [LE drcvfrs (Dergcnjtmn trenscstmrs,

TCR5??), pmsctcmn sfnsmrs, end kmlluncketcmn drcvfs.

Thf lckrmkmntrmggfr cs usfd tm lenejf thf drcvcnj mi

thf [LEs, tm hendgf thf kmlluncketcmn rfqucrflfnts,

end tm prmvcdf E/D kmnvfrscmn.

[LE [prcnj

Fgfktrmnck

Omerd

Enjuger

[fnsmr

Fgfktrmnck

Omerd


3/6


54

Icj. 40 Fgfktrckeg omerd mvfrvcfw

;. Lmdfgcnj

Tm lmdfg rmomt lmtcmn, wf shmugd dfvfgmp acnfletck

lmdfg mi rmomt omdy end lmdfg mi [LEs ektuetmr

ofhevcmr.

Icj. 60 _momt gcnas end `mcnt dfifnctcmn

;.5. Acnfletck Lmdfg

Ekkmrdcnj tm Icj. 6, rmomt cs dcvcdfd cntm 4 gcnas end 6

`mcnts. _fifr tm gmw rfektcmn mi [LEs ektuetmrs end

PLR krctfrce, ekkfgfretcmn tfrls cs cjnmrfd, sm PLR

krctfrce rfdukfd tm fq.5, dfskrcof acnfletck lmdfg mi

rmomt end cts steocgcty rfjcmn.

4

5

4

5

2

2

c c

c KJcc

KJ

l

_l _ (5)

Zhfrf,2 _KJ cs pmsctcmn letrcx, cn oesf kmmrdcnetf

systfl.

;.?. [LEs Ofhevcmr Lmdfg

Ekkmrdcnj tm Q55\0Dfigfktcmn mi shepf lflmry eggmys es iunktcmn mi imrkf

end thf lertfnsctf irektcmn ken of fxprfssfd es0

sJd

D N I

Jd

N D y

;

?

4

;8

(?)

Zhckh y cs dfigfktcmn, I cs imrkf, J cs thf fgestck shfer

lmdugus, thf phesf trensimrletcmn tfnsmr (whckh ken

of kegkugetfd irml G

F whfrf F cs thf fgestck

lmdugus end G thf lexclul rfkmvfreogf strecn),

s

cs thf strfss cndukfd lertfnsctf, D cs mutfr dcelftfr mishepf lflmry eggmys sprcnj kmcg, d cs wcrf dcelftfr end

N cs nulofr mi wcndcnj.Cn eddctcmn tm thf [LE sprcnj lmdfg, thf hfet trensifrlmdfg mi thf [LE cs dficnfd es0

)(?

T T k

Ek

h _ C

dt

dT

plk (;)

Ek


4/6


56

5

Imrkf

T

dT/dt

fq

dfq

/dt

s

Rhesf Trensimrletcmn

Y

T

T

dT/dt

Hfet Trensifr

du/dt

Dfrcvetcvf

S

s

I

Kmnstctutcvf Lmdfg

-A-

Kmnstent

?

Dfigfktcmn

5

Ymgtejf

Icj. 90 [LE lmdfgcnj cn LETGEO smitwerf

4. [clugetcmn

LETGEO end Ycsueg Nestren smitwerf erf usfd tm

sclugetf thf gmkmlmtcmn mi thf rmomt. Ektuetmrs wes erf

lmdfgfd cn LETGEO fnvcrmnlfnt end thfcr ektcmns

erf trensimrlfd tm thf Ycsueg Nestren smitwerf tmjfnfretf thf ocpfd omdy lmtcmn.

Omth smitwerf erf gcnafd tmjfthfr cn e renjf mi 2.25s

pfrcmd. Cn dmcnj sm, cnputs end mutputs erf dficnfd cnfekh smitwerf ekkmrdcnjgy end thf dete cn trensifrrfd

thrmujh thfsf imr thf kmlluncketcmn purpmsfs Thf

cnput tm thf Letgeo cs thf [LE–s pmsctcmns erf cnput

end thf rfsugtcnj imrkfs mi thf [LE–s oesfd mn thfcr

lmdfgs erf mutputs tm thf Y.N. smitwerf. [clugetcmns

erf pfrimrlfd imr e typckeg ocpfd lmdfg end thf rfsugts

erf shmwn cn icj .:.

Icj. :0 Gmkmlmtcmn stfps

Es ct shmws, thf gmkmlmtcmn kmnscsts mi tfnth perts0

icrst, lmvf thf sgcdfr tm gfit, sfkmnd, teaf mii thf rcjht

gfj mi thf jrmund, thcrd, swcnj imrwerd thf suspfndfd

gfj, imurth, put thf rcjht gfj tm thf jrmund, icith, lmvf

thf sgcdfr tm thf rcjht, scxth, teaf imrwerd rmomt wcth jft

oeka rcjht gft tm icrst pmsctcmn end rmomt rfpfets eomvf

stfps out suppmrt mn rcjht gfj, thus kmntcnufs tre`fktmry

leafs wegacnj imrwerd.

6. Tre`fktmry Jfnfretcmn

Thrmujh sclugetcmn, wegacnj tre`fktmrcfs erf jfnfretfd.

Thfn, thrmujh acnfletck lmdfgcnj mi thf ocpfd, dfscrfd

lmtcmns mi thf rmomt–s gfjs erf kegkugetfd. Ct rfqucrfs

thf lmtcmn mi thf lmdugfs thet cs ektuetfd thrmujh

[LE–s. Thf [LE–s erf ektcvetfd thrmujh twm

cndcvcdueg drcvfrs. Icj .8 shmws thf sclugetcmn rfsugt.

Icj.80 [clugetcmn rfsugts

Thcs kurvfd shmws pmsctcmn mi fekh `mcnt es iunktcmn mi

tclf, kgfergy thf peth mi `mcnt 5 cn lmdugf 5 cs sclcger tm

`mcnt 5 lmdugf ?, ùst `mcnt 5 cn lmdugf ? hes tclf shcit.

Mthfr twm `mcnts erf self es thmsf mnfs. Oy uscnj thcs

rfsugt, thf prmtmtypf mi rmomt ken lmvf. _momt

lckrmkmntrmggfr shmugd imggmw thf kurvfs end affp

`mcnts cn kmrrfkt pmsctcmn cn tclf.


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59

9. Fxpfrclfnts

E skegfd vfrscmn mi thf ocpfd cs dfscjnfd end

lenuiekturfd tm vfrciy thf sclugetcmn rfsugts cn

prektckf. Icj.3 shmws thf fxpfrclfnteg sftup.[pfkcicketcmn perelftfr mi essflogy rmomt cs kmggfktfd

tm Teogf ?.

Icj. 30 Fxpfrclfnteg sftup

Teogf ?0 _momt spfkcicketcmn

quentcty perelftfr

548; jrless

;2 klTmteg Hfcjht

?? klGfj Gfnjth

52 klZcdth

[LEEktuetmr

54 Nulofr Mi Ektuetmrs

6DMI

:2*82 kl?

Immt Dclfnscmn9 Elp- DK[uppgy

EgulcnulLetfrceg

ETLFJE;?Lckrmkmntrmggfr

;; ll pfr lcn.Gmkmlmtcmn [pffd

Icj.52 shmws [LEs sprcnj errenjflfnt cn lmdugf

end rmomt. Tm teaf mii rmomt wfcjht, shmugd usf dmuogf

[LEs sprcnj cn kmrnfr mi fekh lmdugf.

Icj. 520 [LE sprcnjs errenjflfnt

Icj. 550 Fxpfrclfnteg rfsugts

E sclpgf out kmlpgftf wegacnj pettfrn cs dfscjnfd end

cs ifd tm thf systfl thrmujh e kmlputfr prmjrel. Ct cs

shmwn thet thf fxpfrclfnteg rfsugts erf kgmsf tm thf

sclugetcmn rfsugts. Tfn stfps mi lmtcmn pettfrn wfrf


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5:

jfnfretfd eutmletckeggy, end erf rfpfetfd imr e nulofr

mi wegacnj stfps. Icj. 55 shmws gmkmlmtcmn stfps. Ct

wes imund thet thf rmomt ofhevfs steogy, out duf tm thf

sgmw rfektcmns mi thf [LE–s thf mvfregg spffd mi thf

rmomt wes vfry sgmw. Hmwfvfr, thf [LE–s wfrf shmwn

tm of prmpfrgy strmnj tm push thf ocpfd imrwerd. Fvfn

thmujh, thf wegacnj pettfrn wes nmt vfry slmmth cn

prektckf, out ct prmvfd thet thf lmtcmn ken of jfnfretfd

thrmujh mngy 6 DMIs lfkhencsls.

:. Dcskusscmns

Thcs pepfr prfsfnts thf dfscjn mi e ocpfd rmomt ektuetfdwcth [hepf Lflmry Eggmy ([LE) sprcnjs wcth

lcnclul dfjrffs mi irffdml. Lmdfgcnj mi [LEs end

lmdfgcnj mi rmomt wes shmwn, end thf kurvfd rfsugt

usfd imr fxpfrclfnteg lmtcmn. [m tm sclpgciy ocpfd,fxtre DMI wes dfgftfd, thfrfimrf thf ocpfd lmvfd wcth

`ust 6 DMIs end ektuetfd oy [LEs. Icneggy e prmtmtypf

mi ocpfd lenuiekturfd end gmkmletf gcaf sclugetcmnrfsugt. Fxpfrclfnteg shmws thet [LE ektuetmrs cn ocpfd

rmomt cs usfiug, out eppgy thcs rmomt cn kmrrmscmn

surrmund, whfrf mthfr ektuetmr wcgg kmrrmdfd, cssujjfstfd. Mthfr edventejf mi thcs rmomt ektuetfd oy[LEs cs lecntfnenkf irff. Thcs ektuetmrs wmra undfr

wetfr end cn hcjh duty kmndctcmns wfgg.

_fifrfnkfs

Q5\

L. Yuamoretmvck end D. @urckck, ‗Kmntrcoutcmn tm thf

[ynthfscs mi Ocpfd Ject“, CFFF Trens. mn Ocm-Lfdckeg

Fnjcnffrcnj, 59, nm.5,5393,5-9.

Q?\

A. Hcrec, ‗Kurrfnt end Iuturf Rfrspfkcvf mi Hmnde

Hulenmcd _momt“, CFFF/_[@ Cntfrnetcmneg Kmnifrfnkf

mn Cntfggcjfnt _momts end [ystfls, ?, 533:, 622-628.

Q;\

S. Aurmac, ‗E slegg ocpfd fntfrtecnlfnt rmomt“,

Cntfrnetcmneg [ylpmscul mn Lckrmlfkhetrmncks end

Hulen [kcfnkf, ?225, ;-4.

Q4\

Hyunj-Lcn [mn, @un-Oul Jug, [f-Hmmn Rera, Sun-@unjGff, Tef-Hyun, ‗ Dfscjn mi nfw quedrupfd rmomt wcth

[LE ektuetmrs imr dynelck wegacnj“, [CKF-CKE[F

Cntfrnetcmneg @mcnt Kmnifrfnkf, Ofxkm, Ousen,

Amrfe,?229.Q6\

K. S. Gcu, Z. H. Gcem,“ E [neaf _momt Vscnj [hepf

Lflmry Eggmys“, Cntfrnetcmneg Kmnifrfnkf mi CFFF mn

_momtcks end Ocmlclftcks, [hfnyenj, Khcne, Eujust

?224, 925 ‛ 926.

Q9\ Lelc Ncshcde, Aezum Teneae, Hue M. Zenj,“Dfvfgmplfnt end Kmntrmg mi e Lckrm Ocpfd Zegacnj

_momt uscnj [hepf Lflmry Eggmys“, CntfrnetcmnegKmnifrfnkf mi CFFF mn _momtcks end

Eutmletcmn,Mrgendm, Igmrcde , Ley ?229, 5924 ‛ 5923.

Q:\

Fhsen Terafsh Fsiehenc, Lmhelled H. Fgehcnce,“ [teogf

Zegacnj Rettfrn imr en [LE-Ektuetfd Ocpfd“

, CFFF/E[LF Trensektcmn mn Lfkhetrmncks,5?(6),Mktmofr ?22:.

Q8\

@unckhc Vrete, Tmlmeac Smshcaec, Caum Lczuukhc end

Leseyuac Cneoe,“ Dfscjn mi Hcjh D.M.I. Lmocgf Lckrm

_momt Vscnj Fgfktrckeg _fscstenkf Kmntrmg mi [hepfLflmry Eggmy“, Cntfrnetcmneg Kmnifrfnkf mi CFFF/_[@

mn Cntfggcjfnt _momts end [ystfls,[en Dcfjm, KE, V[E,

Mkt ?3 - Nmv ?, ?22:, ;8?8 ‛ ;8;;.

Q3\

[hfnshun Scnj, Xcenshfn Ucn end Ucmnj Gcu,“ Dfscjnend _fsferkh mi _momt @mcnt Ektuetfd oy [LE Zcrf“,

Rrmkffdcnjs mi thf CFFF Cntfrnetcmneg Kmnifrfnkf mn

_momtcks end Ocmlclftcks ,senye,khcne, Dfkflofr

?22:.Q52\

E. Hedc, E. Smusfic-Amle, L. L. Lmjhedel,

L.Fgehcnce ,E. Jhezevc, ‗Dfvfgmpcnj e Nmvfg [LE-

Ektuetfd _momtck Lmdugf,“ [fnsmrs end Ektuetmrs E0

Rhysckeg, 59?0:?-85, ?252.

Q55\

G. K. Orcnsmn, ‗Mnf-dclfnscmneg kmnstctutcvf ofhevcmrmi shepf lflmry eggmys0 Thfrlm-lfkhenckeg dfrcvetcmn

wcth nmn-kmnstent letfrceg iunktcmns end rfdficnfd

lertfnsctf cntfrneg verceogf,“ @murneg mi cntfggcjfnt

letfrceg systfls end strukturfs, 4, Eprcg 533;, ??3‛?4?.

Ocmjrephy mi Euthmrs

Le`cd L. Lmjheddel rfkfcvfd hcs

O.[k. dfjrff cn Lfkhenckeg

Fnjcnffrcnj cn 5388 irml [herciVncvfrscty mi Tfkhnmgmjy, Cren, end

L. Fnj. dfjrff cn Lfkhenckeg

Fnjcnffrcnj cn 533; irml LkJcggVncvfrscty, Kenede, end Rh.D. dfjrff

cn Lfkhenckeg Fnjcnffrcnj cn 5339 irml Vncvfrscty mi

Tmrmntm, Kenede. Hf cs e prmifssmr mi lfkhenckeg

fnjcnffrcnj et Terocet Lmderfs Vncvfrscty, Tfhren,Cren. Hcs kurrfnt rfsferkh, whckh imkusfs mn eppgcfd

rmomtcks end rmoust H∞ kmntrmg, cs kmnkfrnfd wcth heptck

rmomtcks, rfheocgctetcmn rmomtcks, cnspfktcmn rmomtck send

rmujh tfrrecn lmocgf rmomt dfscjn. Hf cs e lflofr mithf Edlcncstretcvf Kmllcttff mi Lfkhetrmncks [mkcfty

mi Cren. Hf hes sfrvfd es km-khecr imr leny

netcmneg/cntfrnetcmneg kmnifrfnkfs cn Cren.

Egcrfze Hedc rfkfcvfd e O.[. dfjrff

cn Lfkhenckeg Fnjcnffrcnj cn ?22?

irml Csiehen Vncvfrscty miTfkhnmgmjy, Cren. Hf rfkfcvfd hcs

L.[. dfjrff cn Lfkhenckeg

Fnjcnffrcnj cn ?224 irml Terocet

Lmderfs Vncvfrscty, Cren. Hf

cskurrfntgy kmlpgftcnj hcs Rh.D.dfjrff cn Lfkhenckeg Fnjcnffrcnj cn Vncvfrscty mi

Tfhren. Hf cs e rfkcpcfnt mi Ahwerczlc Smunj Ewerd

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Documents

On the Design and Test of a Prototype of Biped Actuated by Shape Memory Alloys