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03/26/2023
An Approach for Generating Families of Energetically Optimal Gaits from Passive Dynamic Walking Gaits
For a class of biped robots with impulsive dynamics and a non-empty set ...
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02/25/2022
Connecting Gaits in Energetically Conservative Legged Systems
In this work, we present a nonlinear dynamics perspective on generating ...
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11/29/2021
Design and Control of a Recovery System for Legged Robots
This paper describes the design and control of a support and recovery sy...
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02/04/2020
Koopman-based Control of a Soft Continuum Manipulator Under Variable Loading Conditions
Controlling soft continuum manipulator arms is difficult due to their in...
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03/20/2019
Walking with Confidence: Safety Regulation for Full Order Biped Models
Safety guarantees are valuable in the control of walking robots, as fall...
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02/07/2019
Modeling and Control of Soft Robots Using the Koopman Operator and Model Predictive Control
Controlling soft robots with precision is a challenge due in large part ...
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01/31/2019
Comparison and Experimental Validation of Predictive Models for Soft, Fiber-Reinforced Actuators
Successful soft robot modeling approaches appearing in recent literature...
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10/15/2018
Nonlinear System Identification of Soft Robot Dynamics Using Koopman Operator Theory
Soft robots are challenging to model due to their nonlinear behavior. Ho...
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04/30/2018
Force Generation by Parallel Combinations of Fiber-Reinforced Fluid-Driven Actuators
The compliant structure of soft robotic systems enables a variety of nov...
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11/03/2017