4 accepted papers
This letter discusses the challenges and innovations in collision detection and management strategies for Cable-Driven Parallel Robots (CDPRs), focusing on enhancing safety in human-robot collaborative environments. A comprehensive collision management method is introduced. It integrates a novel met
This paper proposes a new kind of light-weight manipulators suitable for safe interactions. The proposed manipulators use anti-parallelogram joints in series, referred to as X-joints. Each X-joint is remotely actuated with cables and springs in parallel, thus realizing a tensegrity one-degree-of-fre…
The linear inverted pendulum model is often used to study walking gaits, but the transition from one step to the following step is often neglected, whereas it is really important for the walking stability. This letter studies different landing positions of the swing foot, and different conditions to
Actual control of most humanoid robots is based on the 3D linear inverted pendulum and assumes an horizontal displacement of the center of mass of the robot while obviously the center of mass in human walking is characterized by vertical oscillations. The objective of the paper is to show that these…