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 …
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 …
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
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 …
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
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 …
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 …
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 …
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 …
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 …
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 …
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 …
are often serious constraints for feasible motions of a robot. Installing passive elastic …