[HTML][HTML] A survey on design and control of lower extremity exoskeletons for bipedal walking
Exoskeleton robots are electrically, pneumatically, or hydraulically actuated devices that
externally support the bones and cartilage of the human body while trying to mimic the …
externally support the bones and cartilage of the human body while trying to mimic the …
[HTML][HTML] A feasibility-driven approach to control-limited DDP
Differential dynamic programming (DDP) is a direct single shooting method for trajectory
optimization. Its efficiency derives from the exploitation of temporal structure (inherent to …
optimization. Its efficiency derives from the exploitation of temporal structure (inherent to …
Introducing RH5 manus: A powerful humanoid upper body design for dynamic movements
M Boukheddimi, S Kumar, H Peters… - … on Robotics and …, 2022 - ieeexplore.ieee.org
It is well established that a stiff structure along with an optimal mass distribution are key
features to perform dynamic movements, and parallel designs provide these characteristics …
features to perform dynamic movements, and parallel designs provide these characteristics …
[HTML][HTML] State of the art in movement around a remote point: a review of remote center of motion in robotics
W Zhang, Z Wang, K Ma, F Liu, P Cheng… - Frontiers of Mechanical …, 2024 - Springer
The concept of remote center of motion (RCM) is pivotal in a myriad of robotic applications,
encompassing areas such as medical robotics, orientation devices, and exoskeletal …
encompassing areas such as medical robotics, orientation devices, and exoskeletal …
[HTML][HTML] Control and evaluation of a humanoid robot with rolling contact joints on its lower body
In this paper, we introduce a new teen-sized humanoid platform dubbed DRACO 3, custom-
built by Apptronik and altered for practical use by the Human Centered Robotics Laboratory …
built by Apptronik and altered for practical use by the Human Centered Robotics Laboratory …
Modular and hybrid numerical-analytical approach-a case study on improving computational efficiency for series-parallel hybrid robots
Modeling closed loop mechanisms is a necessity for the control and simulation of various
systems and poses a great challenge to rigid body dynamics algorithms. Solving the forward …
systems and poses a great challenge to rigid body dynamics algorithms. Solving the forward …
A novel 6 DOFs generalized parallel manipulator design and analysis based on humanoid leg
In this paper, a 6 degrees of freedom (DOFs) generalized parallel manipulator is presented
which can be used as a humanoid leg. Based on the Number Synthesis and Graph …
which can be used as a humanoid leg. Based on the Number Synthesis and Graph …
Whole-body control of series-parallel hybrid robots
Parallel mechanisms are becoming increasingly popular as subsystems in various robots
due to their superior stiffness, payload-to-weight ratio, and dynamic properties. The serial …
due to their superior stiffness, payload-to-weight ratio, and dynamic properties. The serial …
[HTML][HTML] Experimental investigations into using motion capture state feedback for real-time control of a humanoid robot
Regardless of recent advances, humanoid robots still face significant difficulties in
performing locomotion tasks. Among the key challenges that must be addressed to achieve …
performing locomotion tasks. Among the key challenges that must be addressed to achieve …
Robot dance generation with music based trajectory optimization
M Boukheddimi, D Harnack, S Kumar… - 2022 IEEE/RSJ …, 2022 - ieeexplore.ieee.org
Musical dancing is an ubiquitous phenomenon in the human society. Providing robots the
ability to dance has the potential to make the human robot co-existence more acceptable in …
ability to dance has the potential to make the human robot co-existence more acceptable in …