3 accepted papers
When walking robots and exoskeletons make multiple independent contacts, the inverse dynamics problem requires additional knowledge about the contact forces and moments. To avoid measuring the contact forces and moments, many inverse dynamics controllers for walking robots optimize an objective such
The control of mechatronic systems can often be enhanced if realtime information on the derivatives of a signal is available. These derivatives are not always measurable by sensors and should be estimated. Simple numerical derivatives cannot be applied, due to noise on the measured signals. Several
An increasing number of robotic systems are using compliant actuators in which springs are placed in series with the actuator. The need for identification procedures tailored to these systems is consequently rising. When measurements of both the link side and the motor side of the spring are availab…