8 accepted papers
The divergent component of motion (DCM) quantifies the unstable component of a robot's motion and is widely used for online motion planning and stabilization in robots. Although the DCM is derived from the linear inverted pendulum model, which admits a closed-form solution, extending it to nonlinear
Regulating grasping force to reduce slippage during dynamic object interaction remains a fundamental challenge in robotic manipulation, especially when objects are manipulated by multiple rolling contacts, have unknown properties (such as mass or surface conditions), and when external sensing is unr
Regulating grasping force to reduce slippage during dynamic object interaction remains a fundamental challenge in robotic manipulation, especially when objects are manipulated by multiple rolling contacts, have unknown properties (such as mass or surface conditions), and when external sensing is unr…
An intermittent controller, which alternates between phases of no control and feedback control, provides a robust, computationally and energetically efficient method by leveraging the robot's passive dynamics. However, this approach, especially during rapid motions and when facing disturbances, beco
This paper presents a probabilistic Model-based Reinforcement Learning (MBRL) approach for learning the Energy-exchange Dynamics (EED) of a spring-loaded biped robot. Our approach enables on-site walking acquisition with high sample efficiency, real-time planning capability, and generalizability acr
Previous studies suggest that bipedal robots that have prismatic compliance in the legs can achieve efficient walking. However, how this efficiency can be achieved still remains an open research problem. In this study, we developed a 2-degree-of-freedom planar bipedal robot comprising Neidhart sprin…
In this paper, we present a data acquisition method to realize a distributed tactile sensor system that can provide wide-range, and high-sensitivity with a small data size for communication. Since the data size is proportional to the number of acquired data and the resolution of the data, we propose…
Humans can walk stably and adaptively in the presence of various environmental changes. Their bodies have very complex musculoskeletal structures that contribute to their walking stability and adaptability. In this paper, we focus on the gluteus medius, one of muscles contributing to the support of…