Modern Lightweight robots are constructed to be collaborative, which often results in a low
structural stiffness compared to conventional rigid robots. Therefore, the controller must be …

In robotic actuation a well identified and modeled friction behavior of the actuator
components helps to significantly improve friction compensation, output torque estimation …

We present the development, modeling, and control of a three-degree-of-freedom
compliantly actuated leg called the eLeg, which employs both series-and parallel-elastic …

Thanks to their body elasticity, articulated soft robots promise to produce effective and robust
oscillations with low energy consumption. This in turn is an important feature which can be …

The concept of hybrid zero dynamics is a promising approach for designing exponentially
stabilizing controllers for dynamic walking with some degrees of underactuation. By this …

In recent years, many studies have shown that soft robots with elastic actuators enable
robust interaction with the environment. Compliant joints can protect mechanical systems …

This paper explains low-latency joint torque feedback control based on torque estimation on
each joint for gear-driven humanoid robots with harmonic drives. Force control of gear …

This work presents the development of a 3-DoF leg with series and parallel compliant
actuation. Series-elastic main actuators are combined with parallel high efficiency energy …

Monoamines are presumed to be diffuse metabotropic neuromodulators of the
topographically and temporally precise ionotropic circuitry which dominates CNS functions …

Series-elastic and viscoelastic robots can provide performance gains in applications with
high dynamics. Harnessing these, requires an understanding of the dynamics of the system …