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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 ...
Design and development of a powered upper limb exoskeleton with high payload capacity for industrial operations
(IEEE, 2020-09)
This study presents the hardware development and low level controller structure of an upper-body exoskeleton that is equipped with high torque-to-weight ratio actuators. It is intended to be used in industrial applications. ...
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 ...
Co-ex: A torque-controllable lower body exoskeleton for dependable human-robot co-existence
(IEEE, 2019-06)
In this paper, we present our research study concerning the design and development of an exoskeleton that aims to provide 3D walking support with minimum number of actuators. Following a prior simulation study, the joint ...
3-D dynamic walking trajectory generation for a bipedal exoskeleton with underactuated legs: A proof of concept
(IEEE, 2019-06)
This paper presents a framework to address three dimensional (3-D) dynamic walking for a bipedal exoskeleton with underactuated legs. To achieve this goal, the framework is constructed via a trajectory generator and an ...
A soft+rigid hybrid exoskeleton concept in scissors-pendulum mode: A suit for human state sensing and an exoskeleton for assistance
(IEEE, 2019-06)
In this paper, we present a novel concept that can enable the human aware control of exoskeletons through the integration of a soft suit and a robotic exoskeleton. Unlike the state-of-the-art exoskeleton controllers which ...
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