4 accepted papers
This work presents a framework for the simultaneous optimization of motors, transmissions, and mechanisms of different joints of robotic legs with the goal of achieving an energy efficient, precisely controllable and stable locomotion in dynamic environments. This unified framework allowed us to int…
Although there has been recent progress in control of multi-joint prosthetic legs for periodic tasks such as walking, volitional control of these systems for non-periodic maneuvers is still an open problem. In this paper, we develop a new controller that is capable of both periodic walking and commo…
This paper describes the design of a powered knee-and-ankle transfemoral prosthetic leg, which implements high torque density actuators with low-reduction transmissions. The low reduction of the transmission coupled with a high-torque and low-speed motor creates an actuator with low mechanical imped…
Many control policies developed for legged robots are based on control of an underlying, simplified version of the dynamics of the robot. A good example is the Linear Inverted Pendulum Model (LIPM) which has become the standard control template for ZMP-based rigid robots. For compliant robots, this…