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eess.SY2020
Motion Optimization for Musculoskeletal Dynamics: A Flatness-Based Polynomial Approach
Hanz Richter, Holly Warner
A new approach for trajectory optimization of musculoskeletal dynamic models is introduced. The model combines rigid body and muscle dynamics described with a Hill-type model drive…
eess.SY2018
Trajectory Optimization of Robots with Regenerative Drive Systems: Numerical and Experimental Results
Poya Khalaf, Hanz Richter
We investigate energy-optimal control of robots with ultracapacitor based regenerative drive systems. Based on a previously introduced framework, a fairly generic model is consider…
eess.SY2017
State Estimation For An Agonistic-Antagonistic Muscle System
Thang Nguyen, Holly Warner, Hung La +3
Research on assistive technology, rehabilitation, and prosthesis requires the understanding of human machine interaction, in which human muscular properties play a pivotal role. Th…