Despite the development of a large number of mobile manipulation robots, very few
platforms can demonstrate the required strength and mechanical sturdiness to …

Solving mobile manipulation tasks in inaccessible and dangerous environments is an
important application of robots to support humans. Example domains are construction and …

Joint torque sensing represents one of the foundations and vital components of modern
robotic systems that target to match closely the physical interaction performance of biological …

Develo** a high physical performance robotic manipulation platform with considerable
power density, strength and resilience is not a trivial task and frequently leads to heavy and …

In this work we introduce a position control scheme which is targeted at the enhancement of
the safety of compliant joint robots. In addition to the necessity for accuracy and robustness …

Aiming at maximizing working performance of collaborative robots (cobots) under the
constraint of safe physical human–robot interaction (pHRI), a safety design and optimization …

The paper proposes a method to assess the feasible torque bandwidth for electrically driven
torque controllable actuators over its entire torque amplitude range. The method solely relies …

The use of traditional position controllers in robots working in close proximity to people can
lead to risks that result from the unexpected physical human-robot interactions (pHRI). To …

Series Elastic Actuator (SEA) is a powerful device in the area of human-robot collaboration.
However, it still suffers from difficult position control issues. Therefore, an efficient approach …

This work focuses on the modeling and control of robotic manipulators powered by
compliant actuation systems equipped with clutches for providing friction torque on demand …