For haptic devices, compensation of the robot's gravity is a frequent strategy with the aim to reduce interaction forces between robot and human in zero-impedance control. How...
Heike Vallery, Alexander Duschau-Wicke, Robert Rie...
— In this work we examine the control of center of mass and swing leg trajectories in LittleDog, a point-foot quadruped robot. It is not clear how to formulate a function to comp...
— Traditionally, robot control has been done typically by “highly precise control algorithms”: the position of each movable body part is accurately determined at any time wit...
We present motion planning for dexterous manipulation by whole arm grasp system based on switching contact modes. Motion planning for such a system should consider changing dynami...
— In this paper the compliant low level control of a biologically inspired control architecture suited for bipedal dynamic walking robots is presented. It consists of elastic mec...
Sebastian Blank, Thomas Wahl, Tobias Luksch, Karst...