Related papers: An anthropomorphic continuum robotic neck actuated…
Even though artificial muscles have gained popularity due to their compliant, flexible, and compact properties, there currently does not exist an easy way of making informed decisions on the appropriate actuation strategy when designing a…
Through the implementation of reconfigurability to achieve flexibility and adaptation to tasks by morphology changes rather than by increasing the number of joints, malleable robots present advantages over traditional serial robot arms in…
Several recently released humanoid robots, inspired by the mechanical design of Cassie, employ actuator configurations in which the motors are displaced from the joints to reduce leg inertia. While studies accounting for the full kinematic…
Aerial Manipulator Systems (AMS) have garnered significant interest for their utility in aerial operations. Nonetheless, challenges related to the manipulator's limited stiffness and the coupling disturbance with manipulator movement…
Operating robots precisely and at high speeds has been a long-standing goal of robotics research. Balancing these competing demands is key to enabling the seamless collaboration of robots and humans and increasing task performance. However,…
Shape memory alloys (SMAs) have been intensively investigated as actuators for the past several decades. Due to their high actuation energy density compared to other active materials, their current and potential applications in engineering…
Anthropomimetic robots are robots that sense, behave, interact and feel like humans. By this definition, anthropomimetic robots require human-like physical hardware and actuation, but also brain-like control and sensing. The most…
Multisection continuum arms offer complementary characteristics to those of traditional rigid-bodied robots. Inspired by biological appendages, such as elephant trunks and octopus arms, these robots trade rigidity for compliance, accuracy…
Legged locomotion in humans is governed by natural dynamics of the human body and neural control. One mechanism that is assumed to contribute to the high efficiency of human walking is the impulsive ankle push-off, which potentially powers…
Generally, humanoid robots usually suffer significant impact force when walking or running in a non-predefined environment that could easily damage the actuators due to high stiffness. In recent years, the usages of passive, compliant…
Based on the idea of variable stiffness mechanisms, a variety of such mechanisms is shown in this work. Specifically, 2-DOF parallel kinematic machines equipped with redundant actuators and non-linear springs in the actuated joints are…
Beyond providing accurate movements, achieving smooth motion trajectories is a long-standing goal of robotics control theory for arms aiming to replicate natural human movements. Drawing inspiration from biological agents, whose reaching…
Artificial muscle-driven modular soft robots exhibit significant potential for executing complex tasks. However, their broader applicability remains constrained by the lack of dynamic model-based control strategies tailored for…
In biomechanics and robotics, elasticity plays a crucial role in enhancing locomotion efficiency and stability. Traditional approaches in legged robots often employ series elastic actuators (SEA) with discrete rigid components, which, while…
In this paper, we introduce the humanoid robot DRACO 3 by providing a high-level description of its design and control. This robot features proximal actuation and mechanical artifacts to provide a high range of hip, knee and ankle motion.…
A neural network-based framework is developed and experimentally demonstrated for the problem of estimating the shape of a soft continuum arm (SCA) from noisy measurements of the pose at a finite number of locations along the length of the…
Back injuries are the most prevalent work-related musculoskeletal disorders and represent a major cause of disability. Although innovations in wearable robots aim to alleviate this hazard, the majority of existing exoskeletons are obtrusive…
The legged robots with variable stiffness actuators (VSAs) can achieve energy-efficient and versatile locomotion. However, equipping legged robots with VSAs in real-world application is usually restricted by (i) the redundant mechanical…
The recent surge of interest in agile humanoid robots achieving dynamic tasks like jumping and flipping necessitates the concurrent design of a robot platform that combines exceptional hardware performance with effective control algorithms.…
Active inference, a theoretical construct inspired by brain processing, is a promising alternative to control artificial agents. However, current methods do not yet scale to high-dimensional inputs in continuous control. Here we present a…