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ZMP-based online jumping pattern generation for a one-legged robot
(IEEE, 2010-05-01)
This paper is aimed at presenting a method to generate online jumping patterns, which can be applied to one legged jumping robots and optionally to humanoid robots. Our proposed method is based on ensuring the overall ...
Variable ankle stiffness improves balance control: experiments on a bipedal exoskeleton
(IEEE, 2016-02)
This paper proposes a real-time balance control technique that can be implemented to bipedal robots (exoskeletons, humanoids) whose ankle joints are powered via variable physical stiffness actuators. To achieve active ...
Optimal stiffness tuning for a lower body exoskeleton with spring-supported passive joints
(IEEE, 2018-10-09)
This paper presents a framework to optimally tune the stiffness values of spring-supported passive joints that are included in lower body exoskeletons. First, a dynamic model of a combined human-exoskeleton system was ...
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