Human-like compliant locomotion: state of the art of robotic implementations

D Torricelli, J Gonzalez, M Weckx… - Bioinspiration & …, 2016 - iopscience.iop.org
This review paper provides a synthetic yet critical overview of the key biomechanical
principles of human bipedal walking and their current implementation in robotic platforms …

Controlling legs for locomotion—insights from robotics and neurobiology

T Buschmann, A Ewald, A von Twickel… - Bioinspiration & …, 2015 - iopscience.iop.org
Walking is the most common terrestrial form of locomotion in animals. Its great versatility and
flexibility has led to many attempts at building walking machines with similar capabilities …

Atrias: Design and validation of a tether-free 3d-capable spring-mass bipedal robot

C Hubicki, J Grimes, M Jones… - … Journal of Robotics …, 2016 - journals.sagepub.com
ATRIAS is a human-scale 3D-capable bipedal robot designed to mechanically embody the
spring-mass model for dynamic walking and running. To help bring the extensive work on …

A compliant hybrid zero dynamics controller for stable, efficient and fast bipedal walking on MABEL

K Sreenath, HW Park, I Poulakakis… - … Journal of Robotics …, 2011 - journals.sagepub.com
The planar bipedal testbed MABEL contains springs in its drivetrain for the purpose of
enhancing both energy efficiency and agility of dynamic locomotion. While the potential …

Model-free robust adaptive control of humanoid robots with flexible joints

M Jin, J Lee, NG Tsagarakis - IEEE Transactions on Industrial …, 2016 - ieeexplore.ieee.org
A model-free robust adaptive controller is proposed for control of humanoid robots with
flexible joints. The proposed controller uses a time-delay estimation technique to estimate …

[图书][B] Towards safe robots: approaching Asimov's 1st law

S Haddadin - 2013 - books.google.com
The vision of seamless human-robot interaction in our everyday life that allows for tight
cooperation between human and robot has not become reality yet. However, the recent …

A review on gait generation of the biped robot on various terrains

MS Khan, RK Mandava - Robotica, 2023 - cambridge.org
Day by day, biped robots' usage is increasing enormously in all industrial and non-industrial
applications due to their ability to move in any unstructured environment compared to …

Design of dynamic legged robots

S Kim, PM Wensing - Foundations and Trends® in Robotics, 2017 - nowpublishers.com
Animals exhibit remarkable locomotion capabilities across land, sea, and air in every corner
of the world. On land, legged morphologies have evolved to manifest magnificent mobility …

Do robots outperform humans in human-centered domains?

R Riener, L Rabezzana, Y Zimmermann - Frontiers in Robotics and AI, 2023 - frontiersin.org
The incessant progress of robotic technology and rationalization of human manpower
induces high expectations in society, but also resentment and even fear. In this paper, we …

Parallel elastic actuators as a control tool for preplanned trajectories of underactuated mechanical systems

U Mettin, PX La Hera, LB Freidovich… - … journal of robotics …, 2010 - journals.sagepub.com
A lack of sufficient actuation power as well as the presence of passive degrees of freedom
are often serious constraints for feasible motions of a robot. Installing passive elastic …