6 accepted papers
Fully exploiting soft robots' capabilities requires devising strategies that can accurately control their movements with the limited amount of control sources available. This task is challenging for reasons including the hard-to-model dynamics, the system's underactuation, and the need of using a pr
To be operated in unknown or complex environments, modern robots have to fulfill various challenging criteria. Among them, one finds requirements such as a high level of robustness to withstand impacts and the capabilities to physically interact in a safe manner. One way to achieve that is to integr
The human torso is known to be highly versatile and dexterous in terms of motion capabilities and dynamic performance. Motivated by the human counterpart, we present the development of a new anthropomorphic robotic torso with comparable workspace, torques, velocities for running, and high level of m
In recent years, the application of continuum mechanisms increased as they provide high dexterity, consume a low amount of space, and handle unforeseen collisions with ease. Typically, a deformation model of the continuum is applied to compute task space poses from actuator variables. However, simpl
The humanoid robot David is equipped with a novel robotic neck based on an elastic continuum mechanism (ECM). To realize a model-based motion control, the six dimensional stiffness characteristics needs to be known. This letter presents an approach to experimentally identify the stiffness characteri
When working in unknown environments, it is beneficial for robots to be mechanically robust to impacts. To obtain such robustness properties and maintain human-like performance, strength, workspace and size especially in the upper body, an elastic backbone approach is presented and discussed. Compar