Optimally Controlling the Timing of Energy Transfer in Elastic Joints: Experimental Validation of the Bi-Stiffness Actuation Concept
Elastic actuation taps into elastic elements' energy storage for dynamic motions beyond rigid
actuation. While Series Elastic Actuators (SEA) and Variable Stiffness Actuators (VSA) are …
actuation. While Series Elastic Actuators (SEA) and Variable Stiffness Actuators (VSA) are …
Optimal Control for Clutched-Elastic Robots: A Contact-Implicit Approach
D Ossadnik, V Rakčević, MC Yildirim… - … on Robotics and …, 2024 - ieeexplore.ieee.org
Intrinsically elastic robots surpass their rigid counterparts in a range of different
characteristics. By temporarily storing potential energy and subsequently converting it to …
characteristics. By temporarily storing potential energy and subsequently converting it to …
Compositional Construction of Barrier Functions for Switched Impulsive Systems
Many systems occurring in real-world applications, such as controlling the motions of robots
or modeling the spread of diseases, are switched impulsive systems. To ensure that the …
or modeling the spread of diseases, are switched impulsive systems. To ensure that the …
Cross-coupling stiffness for natural goal-directed robot motion
D Ossadnik, S Haddadin - IFAC-PapersOnLine, 2023 - Elsevier
The capability of humans to use their natural dynamics for generating explosive motions in a
highly-coordinated sequence is a feat that has yet to be reached in robotics. With the …
highly-coordinated sequence is a feat that has yet to be reached in robotics. With the …