Mario W. Gomes
Rochester Institute of Technology
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Featured researches published by Mario W. Gomes.
international conference on robotics and automation | 2015
Mario W. Gomes; Konrad Ahlin
We present a simple walking prototype that is capable of demonstrating an efficient, near-collisionless gait down a ramp. This inertia-coupled rimless wheel is able to “walk” down a 3° incline, which corresponds to a cost of transport of approximately 0.05. This is the first device designed to demonstrate the concept of collisionless walking, where energy-loss due to foot/ground collisions is minimized by matching the velocity of the foot and the ground at the moment of impact. We also present and analyze a novel torsional spring design which was used to couple the inertia device to the frame. We conjecture that walking robots based on this design will be able to exploit the concept of collisionless gaits and may be able to achieve significantly more energy-efficient walking than existing robot designs.
Volume 2: Dynamic Modeling and Diagnostics in Biomedical Systems; Dynamics and Control of Wind Energy Systems; Vehicle Energy Management Optimization; Energy Storage, Optimization; Transportation and Grid Applications; Estimation and Identification Methods, Tracking, Detection, Alternative Propulsion Systems; Ground and Space Vehicle Dynamics; Intelligent Transportation Systems and Control; Energy Harvesting; Modeling and Control for Thermo-Fluid Applications, IC Engines, Manufacturing | 2014
Matthew P. Figliotti; Mario W. Gomes
Kinetic energy storage systems for powering vehicles currently exist but are not prevalent. Often the coupling between the flywheel and the vehicle is done using a separate actuator/generator system. This separate actuator system necessarily results in efficiency losses. In this paper we present a design for a spring-coupled variable inertia flywheel which directly couples the flywheel and vehicle. Simulation results for the non-linear dynamic behavior of the system are given and show that it can be used to store more than 99% of the energy of the vehicle when braking, but that there is a tradeoff between device size, deceleration rate, and energy stored. We found that a parameter exploration using three cost functions related to braking time, energy stored, and flywheel radius, shows that one can optimize at most two of the three cost functions. Analytic results are also given for a driven mass-flywheel model, which mitigates some of the problems of the linear spring model. However, this model, if it uses equivalent non-linear springs, is able to store at most 75% of the system energy. The driven-mass/non-linear spring model allows for a lower deceleration and smaller physical size than the linear spring model.Copyright
Physical Review E | 2011
Mario W. Gomes; Andy Ruina
Archive | 1996
Wayne John Book; Robert Charles; Hurley T. Davis; Mario W. Gomes
Journal of Theoretical Biology | 2005
Mario W. Gomes; Andy Ruina
Archive | 1997
Mario W. Gomes
Applied Optics | 2014
Alexandra B. Artusio-Glimpse; Daniel G. Schuster; Mario W. Gomes; Grover A. Swartzlander
ASME 2011 International Mechanical Engineering Congress and Exposition | 2011
Lowell Smoger; Mario W. Gomes; Elizabeth DeBartolo
Nonlinear Dynamics | 2015
Daniel G. Schuster; Mario W. Gomes; Alexandra B. Artusio-Glimpse; Grover A. Swartzlander
2013 ASEE Annual Conference & Exposition | 2013
Mario W. Gomes; Elizabeth DeBartolo
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