3 accepted papers
In this work, we investigate and validate two methods that can extend the explosive motion capabilities of series elastic actuated robots during standing jumps. First, field weakening control is exploited on multiple joints of a monoped to boost their peak velocities. However, field weakening operat
Torque distribution in redundant robots that combine the potential of asymmetric series-parallel actuated branches and multi-articulation pose a non-trivial challenge. To address the problem, this work proposes a novel optimization based controller that can accommodate various quadratic criteria to…
This paper investigates the energy efficiency potential of continuously controllable clutches between the motors and links of robot joints. Inspired by biological muscles, the clutch enables free, purely gravity driven robot link motion phases gradually disengaged from gear friction, not requiring m…