Abstract Variable Impedance Actuators (VIA) have received increasing attention in recent
years as many novel applications involving interactions with an unknown and dynamic …

This survey presents the state of the art of basic compliant control algorithms in a unified
view of past and present literature. Compliant control is fundamental when dealing with …

Designing an actuator system for highly dynamic legged robots has been one of the grand
challenges in robotics research. Conventional actuators for manufacturing applications have …

This work presents nonlinear control algorithms for a benchmark mechanical system
actuated by different types of electric machinery, emphasizing system stability and …

This letter introduces Minitaur, a dynamically running and lea** quadruped, which
represents a novel class of direct-drive (DD) legged robots. We present a methodology that …

In this paper a survey of the literature related to dynamic analyses of flexible robotic
manipulators has been carried out. Both link and joint flexibility are considered in this work …

Geometric Fundamentals of Robotics provides an elegant introduction to the geometric
concepts that are important to applications in robotics. This second edition is still unique in …

Introduction; Mathematical background; Dynamic modelling of robots; Structured network
modelling of robots; Adaptive neural network control of robots; Neural network model …

Despite widespread interest in virtual reality, research and development efforts in synthetic
environments (SE) â€" the field encompassing virtual environments, teleoperation, and …

This paper presents Stanford Doggo, a quasi-direct-drive quadruped capable of dynamic
locomotion. This robot matches or exceeds common performance metrics of state-of-the-art …