7 accepted papers
The ongoing electrification in all domains relies on strong increase in raw material extraction. Autonomous dump trucks are key to facilitating this. The automation requires the development of new localization approaches, as deep open-pit mines are challenging for satellite-based localization system…
Wheeled-legged robots have the potential for highly agile and versatile locomotion. The combination of legs and wheels might be a solution for any real-world application requiring rapid, and long-distance mobility skills on challenging terrain. In this letter, we present an online trajectory optimiz
Body weight support (BWS) systems are widely used in gait research and rehabilitation. This letter introduces a new three-dimensional overground BWS system, called the RYSEN. The RYSEN is designed to be intrinsically safe and low power consuming, while still performing at least as well as existing B
Learning-based approaches are suitable for the control of systems with unknown dynamics. However, learning from scratch involves many trials with exploratory actions until a good control policy is discovered. Real robots usually cannot withstand the exploratory actions and suffer damage. This proble
Coil springs are a common element in compliant actuators. For closed-loop control, the force of the coil spring has to be measured. Typically, deflection sensors indirectly measure this force. Implicitly, this assumes that the coil spring is a pure stiffness, without any mass. In reality, internal o
Parallel elastic actuators (PEAs) have shown the ability to reduce the energy consumption of robots. The problem with regular PEAs is that it is not possible to freely choose at which instant or configuration to store or release energy. This paper introduces the concept and the design of the Bi-dire…
Coil springs are nowadays widely used in robotic applications, in particular in Series Elastic Actuators. The measurement of spring force, either via load cells or via position sensors, conventionally requires additional sensor hardware to be part of or parallel to the kinematic chain. In order to s…