38 citations · 113 across the 5 of their papers we have counts for
5 papers
Hybrid Open-Loop Closed-Loop Control of Coupled Human-Robot Balance During Assisted Stance Transition with Extra Robotic Legs
Daniel J. Gonzalez, H. Harry Asada
A new approach to the human-robot shared control of the Extra Robotic Legs (XRL) wearable augmentation system is presented. The XRL system consists of two extra legs that bear the…
Passive Quadrupedal Gait Synchronization for Extra Robotic Legs Using a Dynamically Coupled Double Rimless Wheel Model
Daniel J. Gonzalez, H. Harry Asada
The Extra Robotic Legs (XRL) system is a robotic augmentation worn by a human operator consisting of two articulated robot legs that walk with the operator and help bear a heavy ba…
Design of Extra Robotic Legs for Augmenting Human Payload Capabilities by Exploiting Singularity and Torque Redistribution
Daniel J. Gonzalez, H. Harry Asada
We present the design of a new robotic human augmentation system that will assist the operator in carrying a heavy payload, reaching and maintaining difficult postures, and ultimat…
Design and Analysis of 6-DOF Triple Scissor Extender Robots with Applications in Aircraft Assembly
Daniel J. Gonzalez, H. Harry Asada
A new type of parallel robot mechanism with an extendable structure is presented, and its kinematic properties and design parameters are analyzed. The Triple Scissor Extender (TSE)…
Triple Scissor Extender: A 6-DOF Lifting and Positioning Robot
Daniel J. Gonzalez, H. Harry Asada
We present a novel 6 DOF robotic mechanism for reaching high ceilings and positioning an end-effector. The end-effector is supported with three scissor mechanisms that extend towar…