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Autonomous trajectory generation through generalization requires a database of motion, which can be difficult and time consuming to obtain. In this paper, we propose a method for autonomous expansion of a database for the generation of compliant and accura ...
In this paper we propose and evaluate a control system to (1) learn and (2) adapt robot motion for continuous non-rigid contact with the environment. We present the approach in the context of wiping surfaces with robots. Our approach is based on learning b ...
While movement is essential to human wellbeing, we are still unable to reproduce the deftness and robustness of human movement in automatons or completely restore function to individuals with many types of motor impairment. To better understand how the hum ...
The paper addresses the problem of learning internal task-specific dynamic models for a reaching task. Using task-specific dynamic models is crucial for achieving both high tracking accuracy and compliant behaviour, which improves safety concerns while wor ...
Direct transfer of human motion trajectories to humanoid robots does not result in dynamically stable robot movements due to the differences in human and humanoid robot kinematics and dynamics. We developed a system that converts human movements captured b ...
In this paper we propose a general control framework for ensuring stability of humanoid robots, determined through a normalized zero-moment-point (ZMP). The proposed method is based on the modified prioritized kinematic control, which allows smooth and con ...
In this paper we compare three noninvasive control methods for a robotic knee exoskeleton and asses their kinematic influences on the repetitive squatting motions of able-bodied human subjects. The motion of the subjects wearing the knee exoskeleton was al ...
A number of studies discuss the design and control of various exoskeleton mechanisms, yet relatively few address the effect on the energy expenditure of the user. In this paper, we discuss the effect of a performance augmenting exoskeleton on the metabolic ...
In this paper we present a novel method to obtain the basic frequency of an unknown periodic signal with an arbitrary waveform, which can work online with no additional signal processing or logical operations. The method originates from non-linear dynamica ...
