There have been significant interests and efforts in the field of impedance control on robotic
manipulation over last decades. Impedance control aims to achieve the desired mechanical …

There are two main categories of force control schemes: hybrid position‐force control and
impedance control. However, the former does not take into account the dynamic interaction …

Whole-body operational space controllers (WBOSCs) are versatile and well suited for
simultaneously controlling motion and force behaviors, which can enable sophisticated …

Series elastic actuators (SEAs) have become prevalent in torque-controlled robots in recent
years to achieve compliant interactions with environments and humans. However, designing …

To realize different tasks in human-robotic interaction, various mechanical variable stiffness
actuators are being investigated. A mechanical-rotary impedance actuator (the MeRIA) is …

In this paper, we devise methods for the multiobjective control of humanoid robots, aka
prioritized whole-body controllers, that achieve efficiency and robustness in the algorithmic …

Whole-body controllers have become a well adopted control paradigm for humanoid robots,
uniting communities working on control systems and sensorbased techniques. These …

Robotic systems are increasingly relying on distributed feedback controllers to tackle
complex sensing and decision problems, such as those found in highly articulated human …

Series elastic actuators (SEA) are widely used for impact protection and compliant behavior,
but they typically fall short in tasks calling for accurate position control. In this paper, we …

We propose a methodology for dynamically balancing passive-ankled bipeds and full
humanoids. As dynamic locomotion without ankle-actuation is more difficult than with …