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09/14/2023
Optimally Controlling the Timing of Energy Transfer in Elastic Joints: Experimental Validation of the Bi-Stiffness Actuation Concept
Elastic actuation taps into elastic elements' energy storage for dynamic...
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09/13/2023
Towards Connecting Control to Perception: High-Performance Whole-Body Collision Avoidance Using Control-Compatible Obstacles
One of the most important aspects of autonomous systems is safety. This ...
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06/10/2023
Fast yet predictable braking manoeuvers for real-time robot control
This paper proposes a framework for generating fast, smooth and predicta...
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06/10/2023
Learning optimal controllers: a dynamical motion primitive approach
Real-time computation of optimal control is a challenging problem and, t...
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12/30/2022
BSA – Bi-Stiffness Actuation for optimally exploiting intrinsic compliance and inertial coupling effects in elastic joint robots
Compliance in actuation has been exploited to generate highly dynamic ma...
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10/18/2022