Gerrit A. Folkertsma

2 accepted papers

2018

Safety and Guaranteed Stability Through Embedded Energy-Aware Actuators

Gerrit A. Folkertsma, Stefan S. Groothuis, Stefano Stramigioli

ICRA 2018poster

Safety is essential for robots in unknown environments, especially when there is physical Human-Robot Interaction (pHRI). Control over energy, or passivity, is an effective safety mechanism. However, when the control algorithm is implemented in a discrete-time computer, computation and communication…

Cited by 12 Source ↗Scholar ↗

2015

Design and analysis of an optimal hopper for use in resonance-based locomotion

Ivor Wanders, Gerrit A. Folkertsma, Stefano Stramigioli

ICRA 2015poster

Quadrupedal running is an efficient form of locomotion found in nature, which serves as an inspiration for robotics. We believe that a resonance-based approach is the path towards energy-efficient legged locomotion and running robots. The first step in working towards this goal is creating an energy…

Cited by 12 Source ↗Scholar ↗