Applying concepts and methods of bionics to endow autonomous robots with elegant and
agile mobility just like natural living beings is gradually becoming a hot research topic in …

Leg morphology is an important outcome of evolution. A remarkable morphological leg
feature is the existence of biarticular muscles that span adjacent joints. Diverse studies from …

Bioinspired legged locomotion comprises different aspects, such as (i) benefiting from
reduced complexity control approaches as observed in humans/animals,(ii) combining …

Despite the increased interest in exoskeleton research in the last decades, not much
progress has been made on the successful reduction of user effort. In humans, biarticular …

The bi-articular muscle-tendon complex (MTC) in an animal's leg allows a transfer of
mechanical power between adjacent joints and exertion of a large force at the toes. It is …

The development of energy efficient actuation represents one of the biggest challenges in
robotics research today. This letter presents the generalisation of design and control …

Biarticular actuators-actuators spanning two joints-play a fundamental role in robot arm
designs based on the human musculoskeletal actuation structure. Unlike kinematic …

There is a rising interest in biologically inspired manipulators equipped with biarticular
actuators-actuators that span two joints-for solving the known limitations of conventional …

Actuation concepts such as Series Elastic Actuation (SEA), Parallel Elastic Actuation (PEA),
and Biarticular Actuation (BA), which introduce elastic elements into the structure, have the …

This paper proposes an optimization method for dual-arm robots, inspired by a study on
human asymmetric bimanual action called Guiard's principle which states that when humans …