3 accepted papers
This paper presents a locomotion controller for a novel human-augmented legged robot, the Centaur robot, which is primarily developed to extend the human's ability to carry load. For such a human-robot walking system, there are requirements for the robot to maintain a balanced posture, provide a pro
Legged robots are capable of achieving energy-efficiency by introducing elastic elements in parallel with the actuators during the stance phase. However, the parallel elastic actuation results in a coupling motion between the parallel spring and the flexion movement of the leg mechanism during the s
Prediction of interaction force between human and contacting environment has always been an important issue for such as robot control and clinical treatment. Although force/torque sensors can provide direct and precise measurement results, in many cases it is inconvenient to attach these sensors on…