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The computational power of mobile robots is currently insufficient to achieve torque level whole-body Model Predictive Control (MPC) at the update rates required for complex dynamic systems such as legged robots. This problem is commonly circumvented by us ...
Adapting to the ground enables stable footholds in legged locomotion by exploiting the structure of the terrain. On that account, we present a passive adaptive planar foot with three rotational degrees of freedom that is lightweight and thus suited for hig ...
Despite enhancements in the development of robotic systems, the energy economy of today's robots lags far behind that of biological systems. This is in particular critical for untethered legged robot locomotion. To elucidate the current stage of energy eff ...
Harmonic oscillators might be one of the most fundamental entities described by physics. Yet they stay relevant in recent research. The topological properties associated with exceptional points that can occur when two modes interact have generated much int ...
Synchronization, the temporal coordination of coupled oscillators, allows fireflies to flash in unison, neurons to fire collectively, and human crowds to fall in step on the London millenium bridge. Here, we interpret active (or self-propelled) chiral micr ...
We investigate the relationship between the dynamical properties of minimal topological dynamical systems and the multiplicative combinatorial properties of return time sets arising from those systems. In particular, we prove t ...
The fast and accurate tracking of periodic and arbitrary reference trajectories is the principal goal in many nanopositioning applications. Flexure-based piezoelectric stack driven nanopositioners are widely employed in applications where accurate mechanic ...
While quantum mechanics imposes a fundamental limit on the precision of interferometric measurementsof mechanical motion due to measurement backaction, the nonlinear nature of the coupling also leads toparametric instabilities that place practical limits o ...
Modular robots (MRs) consist of similar modules that can be configured into different shapes. MRs introduce a number of benefits over conventional robots specifically designed for a task. Self-reconfigurable modular robots (SRMRs) are a sub-category of MRs ...
This paper presents a novel method to perform automatic standing balance in a full mobilization exoskeleton. It exploits the locked ankle and the curved foot sole of the exoskeleton TWIICE. The idea is to use the knees to roll the sole and change the posit ...
