The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
Considering the intrinsic safety of physical human-robot interaction, this paper proposes a compliance Cartesian position control of robot manipulator with series elastic actuations(SEA). High spring compliance introduces strong passive dynamics to improve safety. A kinetics model of manipulator was built to investigate the effect of applying driving forces. Without adopting the inverse dynamics,...
Recent developed humanoid robots have had the capability to demonstrate fast and stable walking, while it is still a challenge for those robots to walk stably and flexibly in complex environments. A common solution is to search for appropriate footsteps either from a predefined motion set or not. However, the inaccuracy in models and external perturbation during implementation will make the robot...
For human-like locomotion, applying human motion capture data (HMCD) to the humanoid robot is a nature way. However, adapting HMCD online is a non-trivial problem. Not only because achieving both kinematic similarity and dynamic stability is difficult but also because such an optimization problem is intractable. This paper proposes an online adaptation approach using convex optimization for humanoid's...
Biped robot may become unstable during dynamic walking because of the huge impact/contact forces produced by foot instant landing. In this paper, force/torque-based compliance control is applied to absorb the impact forces generated between the contacting foot and the ground to keep stable dynamic walking. By imitating human's muscles to absorb the landing force, this method models the ground and...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.