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One of the challenges for the robotics community is to deploy robots which can reliably operate in real world scenarios together with humans. A crucial requirement for legged robots is the capability to properly balance on their feet,…

In this paper, we introduce the concept of using passive arm structures with intrinsic impedance for robot-robot and human-robot collaborative carrying with quadruped robots. The concept is meant for a leader-follower task and takes a…

Recently, many humanoid robots have been increasingly deployed in various facilities, including hospitals and assisted living environments, where they are often remotely controlled by human operators. Their kinematic redundancy enhances…

This paper focusses on the energy-efficient control of a cable-driven robot for tasks that only require precise positioning at few points in their motion, and where that accuracy can be obtained through contacts. This includes the majority…

This study presents a comprehensive analysis of a two-level battery charger for electric vehicles, focusing on modeling, simulation, and performance evaluation. The proposed charger topology employs two switches operating complementarily,…

Reinforcement learning (RL) has made significant strides in legged robot control, enabling locomotion across diverse terrains and complex loco-manipulation capabilities. However, the commonly used position or velocity tracking-based…

Parallel robots provide the potential to be leveraged for human-robot collaboration (HRC) due to low collision energies even at high speeds resulting from their reduced moving masses. However, the risk of unintended contact with the leg…

This paper presents a robust position controller for electric power assisted steering and steer-by-wire force-feedback systems. A position controller is required in steering systems for haptic feedback control, advanced driver assistance…

Human impedance parameters play an integral role in the dynamics of strength amplification exoskeletons. Many methods are used to estimate the stiffness of human muscles, but few are used to improve the performance of strength amplification…

Prior to realizing fully autonomous driving, human intervention will be required periodically to guarantee vehicle safety. This fact poses a new challenge in human-machine interaction, particularly during control authority transition from…

Haptic shared control is used to manage the control authority allocation between a human and an autonomous agent in semi-autonomous driving. Existing haptic shared control schemes, however, do not take full consideration of the human agent.…

Fast charging of lithium-ion batteries has gained extensive research interests, but most of existing methods are either based on simple rule-based charging profiles or require explicit battery models that are non-trivial to identify…

As the number of electric vehicles rapidly increases, their peak demand on the grid becomes one of the major challenges. A battery-assisted charging concept has emerged recently, which allows to accumulate energy during off-peak hours and…

Wide-scale electrification of the transportation sector will require careful planning and coordination with the power grid. Left unmanaged, uncoordinated charging of electric vehicles (EVs) at increased levels of penetration will amplify…

The increasing need for sharing workspace and interactive physical tasks between robots and humans has raised concerns regarding safety of such operations. In this regard, controllable clutches have shown great potential for addressing…

Electric Vehicles (EVs) are projected to be one of the major contributors to energy transition in the global transportation due to their rapid expansion. The EVs will play a vital role in achieving a sustainable transportation system by…

The penetration of electric vehicles becomes a catalyst for the sustainability of Smart Cities. However, unregulated battery charging remains a challenge causing high energy costs, power peaks or even blackouts. This paper studies this…

Tactile sensors have been introduced to a wide range of robotic tasks such as robot manipulation to mimic the sense of human touch. However, there has only been a few works that integrate tactile sensing into robot navigation. This paper…

Tactile sensing is a crucial perception mode for robots and human amputees in need of controlling a prosthetic device. Today robotic and prosthetic systems are still missing the important feature of accurate tactile sensing. This lack is…

Smart charging of Electric Vehicles (EVs) reduces operating costs, allows more sustainable battery usage, and promotes the rise of electric mobility. In addition, bidirectional charging and improved connectivity enables efficient power grid…