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Transdisciplinarity as a learning challenge: Student experiences and outcomes in an innovative course on wearable and collaborative robotics
Contribution: This study provides evidence for the
benefit of short online courses for transdisciplinary competence
development of graduate students. It shows the significant challenges students face while learning, and ...
Centroidal momentum observer: Towards whole-body robust control of legged robots subject to uncertainties
(IEEE, 2022)
This paper aims to provide robust dynamic motion control and eliminate parameter uncertainty in single-legged robots with a centroidal momentum-based control algorithm. In order to ensure the continuity of the movement ...
Contact force distribution using centroidal momentum feedback for quadruped locomotion
(IEEE, 2023)
This paper proposes a method to distribute contact forces to eliminate undesired torso orientation fluctuations and regulate heading during dynamic quadruped trot-walking motion. The proposed method makes use of centroidal ...
Preview control-based jumping and spot-jogging trajectory generation for quadruped robots
(IEEE, 2023)
This work presents a vertical center of mass (CoM) trajectory generation approach based on preview control for quadruped robots to accomplish agile locomotion tasks such as jumping and jogging. Conventionally, preview ...
Topology optimization-based design and development of a compact actuator with a high torque-to-weight ratio for quadrupeds
(IEEE, 2022)
This paper presents the design, development, and testing procedures for a compact actuator with a high torque-to-weight ratio, generally aimed to actuate legged robots, e.g., quadrupeds. The main goal of designing the ...
Design and development of a torsion-based series elastic actuator with nested encoders for a wearable exoskeleton robot
(IEEE, 2022)
This paper presents the design of a high torque-to-mass ratio series elastic actuator (SEA) for wearable powered exoskeletons. Nonbackdrivable actuators are ideal for applications that require high torque. Commonly, active ...
A high-torque density compliant actuator design for physical robot environment interaction
(IEEE, 2020)
Compared to the traditional industrial robots that use rigid actuators, the advanced robotic systems are mobile and physically interact with unknown and dynamic environments. Therefore, they need intrinsically safe and ...
Free simulation software and library
(Springer, 2018-01-01)
With the advent of powerful computation technologies and efficient algorithms, simulators became an important tool in most engineering areas. The field of humanoid robotics is no exception; there have been numerous simulation ...
Shoulder glenohumeral elevation estimation based on upper arm orientation
(IEEE, 2018-10-26)
In this paper, the shoulder glenohumeral displacement during the movement of the upper arm is studied. Four modeling approaches were examined and compared to estimate the humeral head elevation (vertical displacement) and ...
An integrated design approach for a series elastic actuator: Stiffness formulation, fatigue analysis, thermal management
(IEEE, 2017-12-22)
This paper presents an integrated mechanical design approach for the long-Term and repetitive use of series elastic actuators (SEAs). Already, computational models for series elastic actuator design have been developed in ...
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