Design, modeling and testing of a compact variable stiffness mechanism for exoskeletons
In this paper, the mechanical design of a novel variable stiffness mechanism (VSM) with
reconfigurability is presented. The design of VSM is based on a zero-length base link four …
reconfigurability is presented. The design of VSM is based on a zero-length base link four …
A novel revolute joint of variable stiffness with reconfigurability
Z Li, S Bai - Mechanism and Machine Theory, 2019 - Elsevier
In this paper, a novel revolute joint of variable stiffness with reconfigurability (JVSR) is
presented. The JVSR is designed with a compliant joint mechanism, and is able to vary …
presented. The JVSR is designed with a compliant joint mechanism, and is able to vary …
Beyond basins of attraction: Quantifying robustness of natural dynamics
S Heim, A Spröwitz - IEEE Transactions on Robotics, 2019 - ieeexplore.ieee.org
Properly designing a system to exhibit favorable natural dynamics can greatly simplify
designing or learning the control policy. However, it is still unclear what constitutes favorable …
designing or learning the control policy. However, it is still unclear what constitutes favorable …
Extension and customization of self-stability control in compliant legged systems
M Ernst, H Geyer, R Blickhan - Bioinspiration & biomimetics, 2012 - iopscience.iop.org
Several recent studies on the control of legged locomotion in animal and robot running focus
on the influence of different leg parameters on gait stability. In a preceding investigation self …
on the influence of different leg parameters on gait stability. In a preceding investigation self …
Unified bipedal gait for autonomous transition between walking and running in pursuit of energy minimization
T Kobayashi, K Sekiyama, Y Hasegawa… - Robotics and …, 2018 - Elsevier
This paper addresses “unified bipedal gait” control, which autonomously selects the energy-
minimized gait from walking and running at any feasible gait speeds. Humans select …
minimized gait from walking and running at any feasible gait speeds. Humans select …
Direct Encoding of Tunable Stiffness Into an Origami-Inspired Jum** Robot Leg
The stiffness of robot legs greatly affects legged locomotion performance; tuning that
stiffness, however, can be a costly and complex task. In this paper, we directly tune the …
stiffness, however, can be a costly and complex task. In this paper, we directly tune the …
Design and modeling of a compact rotational nonlinear spring
HJ Bidgoly, MN Ahmadabadi… - 2016 IEEE/RSJ …, 2016 - ieeexplore.ieee.org
In this paper, we propose a new method for implementing a rotational nonlinear spring with
user defined profile, based on the combination of a linear spring with a nonlinear …
user defined profile, based on the combination of a linear spring with a nonlinear …
Design and realization of a non-circular cable spool to synthesize a nonlinear rotational spring
N Schmit, M Okada - Advanced Robotics, 2012 - Taylor & Francis
In this paper we present a cable mechanism that realizes a nonlinear rotational spring from
a linear translational spring. The spring is pulled by a cable wound around a non-circular …
a linear translational spring. The spring is pulled by a cable wound around a non-circular …
Synthesis of a non-circular cable spool to realize a nonlinear rotational spring
N Schmit, M Okada - 2011 IEEE/RSJ International Conference …, 2011 - ieeexplore.ieee.org
In this paper we present a cable mechanism which realizes a nonlinear rotational spring
from a linear translational spring. The spring is pulled by a cable wound around a non …
from a linear translational spring. The spring is pulled by a cable wound around a non …
Stabilizing biped walking on rough terrain based on the compliance control
M Ogino, H Toyama, M Asada - 2007 IEEE/RSJ International …, 2007 - ieeexplore.ieee.org
In this paper, we propose a control system that changes the compliance based on the
walking speed to stabilize biped walking on rough terrain. The proposed system does not …
walking speed to stabilize biped walking on rough terrain. The proposed system does not …