Publications related to Actionneurs "stick and slip" pour micro-manipulateurs

Model predictive control based framework for CoM control of a quadruped robot

Auke Ijspeert, Kamilo Andres Melo Becerra, Tomislav Horvat

Model Predictive Control is becoming more and more present in robotic applications. It has been successfully used in control of humanoid robots to adjust positions of the footsteps in order to satisfy stability constraints. In this paper we show how to ada ...

2017

Singularity-tolerant inverse kinematics for bipedal robots: An efficient use of computational power to reduce energy consumption

Auke Ijspeert, Salman Faraji

We propose a nonlinear inverse kinematics formulation which solves for positions directly. Compared to various other popular methods that integrate velocities, this formulation can better handle fast, asymmetric and singular-postured balancing tasks for hu ...

Ieee-Inst Electrical Electronics Engineers Inc2017

Soft Pneumatic Actuator Fascicles for High Force and Reliability

Jamie Paik, Matthew Aaron Robertson, Juan Manuel Florez Marin, Hamed Sadeghi

Soft pneumatic actuators (SPAs) are found in mobile robots, assistive wearable devices, and rehabilitative technologies. While soft actuators have been one of the most crucial elements of technology leading the development of the soft robotics field, they ...

Mary Ann Liebert, Inc2017

Design and Computational Modeling of a Modular, Compliant Robotic Assembly for Human Lumbar Unit and Spinal Cord Assistance

Jamie Paik, Matthew Aaron Robertson, Harshal Arun Sonar, Gunjan Agarwal

Wearable soft robotic systems are enabling safer human-robot interaction and are proving to be instrumental for biomedical rehabilitation. In this manuscript, we propose a novel, modular, wearable robotic device for human (lumbar) spine assistance that is ...

2017

Experimental validation of a bio-inspired controller for dynamic walking with a humanoid robot

Auke Ijspeert, Jesse van den Kieboom, Renaud Ronsse, Nicolas Benoît Dominique Van der Noot, Luca Colasanto, Allan Barrea

Bipedal walking with humanoid robots requires efficient real-time control. Nowadays, most bipedal robots require to ensure local stability at every instant in time, preventing them from achieving the impressive human walking skills. At the same time, bio-i ...

IEEE2015

Bio-inspired walking for humanoid robots using feet with human-like compliance and neuromuscular control

Auke Ijspeert, Nicolas Benoît Dominique Van der Noot, Luca Colasanto

The human foot plays a key role in human walking providing, among others, body support and propulsion, stability of the movement and impact absorption. These fundamental functionalities are accomplished by an extraordinarily rich bio-mechanical design. Non ...

IEEE2015

Catching Objects in Flight

Aude Billard, Ashwini Shukla, Seungsu Kim

We address the difficult problem of catching in-flight objects with uneven shapes. This requires the solution of three complex problems: accurate prediction of the trajectory of fastmoving objects, predicting the feasible catching configuration, and planni ...

Institute of Electrical and Electronics Engineers2014

Zero-Moment Point on a bipedal robot under bio-inspired walking control

Nicolas Benoît Dominique Van der Noot, Allan Barrea

Humanoid robots are currently still far from reaching the impressive human walking capabilities. Among the different methods used to design walking controllers, those based on the Zero-Moment Point (ZMP) criterion are among the most popular, even if they i ...

IEEE2014

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Actionneurs "stick and slip" pour micro-manipulateurs

The Making of a 3D-Printed, Cable-Driven, Single-Model, Lightweight Humanoid Robotic Hand

Model predictive control based framework for CoM control of a quadruped robot

Singularity-tolerant inverse kinematics for bipedal robots: An efficient use of computational power to reduce energy consumption

Soft Pneumatic Actuator Fascicles for High Force and Reliability

Design and Computational Modeling of a Modular, Compliant Robotic Assembly for Human Lumbar Unit and Spinal Cord Assistance

Designing a virtual whole body tactile sensor suit for a simulated humanoid robot using inverse dynamics

Experimental validation of a bio-inspired controller for dynamic walking with a humanoid robot

Bio-inspired walking for humanoid robots using feet with human-like compliance and neuromuscular control

Catching Objects in Flight

Zero-Moment Point on a bipedal robot under bio-inspired walking control

Graph Chatbot

Chat with Graph Search

The Making of a 3D-Printed, Cable-Driven, Single-Model, Lightweight Humanoid Robotic Hand

Singularity-tolerant inverse kinematics for bipedal robots: An efficient use of computational power to reduce energy consumption

Soft Pneumatic Actuator Fascicles for High Force and Reliability

Design and Computational Modeling of a Modular, Compliant Robotic Assembly for Human Lumbar Unit and Spinal Cord Assistance

Experimental validation of a bio-inspired controller for dynamic walking with a humanoid robot

Bio-inspired walking for humanoid robots using feet with human-like compliance and neuromuscular control

Designing a virtual whole body tactile sensor suit for a simulated humanoid robot using inverse dynamics

Model predictive control based framework for CoM control of a quadruped robot

Catching Objects in Flight

Zero-Moment Point on a bipedal robot under bio-inspired walking control