Traditional robotic foot and ankle have received considerable attention for adaptive
locomotion on complex terrain and land buffering ability. This study aims to develop a …

Most current hip exoskeletons emphasize assistance for walking rather than stability. The
goal of this paper is to develop a novel, high-power, self-balancing, and passively and …

This paper provides a comprehensive review of the integration of advanced power
management systems and learning techniques in the field of robotics. It identifies the critical …

Parallel-elastic joints can improve the efficiency and strength of robots by assisting the
actuators with additional torques. For these benefits to be realized, a spring needs to be …

Physical compliance has been increasingly used in robotic legs, due to its advantages in
terms of the mechanical regulation of leg mechanics and energetics and the passive …

Actuators that employ clutches can exhibit mechanical impedance tuning and improved
energy efficiency. However, these integrated designs have been difficult to achieve in …

Direct-drive motors (DDMs) have been increasingly used for robot actuation because they
provide high-fidelity torque control, but they typically have low torque density. Gearing can …

We present the development, modeling, and control of a three-degree-of-freedom
compliantly actuated leg called the eLeg, which employs both series-and parallel-elastic …

Creating controllers for quadrupedal robot locomotion on platforms that exhibit dynamic
behaviors, which are herein termed as dynamic platforms, poses a challenging problem …

Animals locomote robustly and agile, albeit significant sensorimotor delays of their nervous
system and the harsh loading conditions resulting from repeated, high-frequent impacts. The …