4 accepted papers
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
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