Parallel mechanisms are used increasingly often as modular subsystem units in various
robots and man-machine interfaces for their superior stiffness, payload-to-weight ratio and …

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 …

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 …

Last decades of humanoid research has shown that humanoids developed for high dynamic
performance require a stiff structure and optimal distribution of mass~ inertial properties …

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 …

Derivatives of equations of motion (EOM) describing the dynamics of rigid body systems are
becoming increasingly relevant for the robotics community and find many applications in …

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 …

Regardless of recent advances, humanoid robots still face significant difficulties in
performing locomotion tasks. Among the key challenges that must be addressed to achieve …

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 …

Series elastic actuators (SEA) were introduced for serial robotic arms. Their model-based
trajectory tracking control requires the second time derivatives of the inverse dynamics …