activity
20202024
most citedHybrid Open-Loop Closed-Loop Control of Coupled Human-Robot Balance During Assisted Stance Transition with Extra Robotic Legs

38 citations · 161 across the 11 of their papers we have counts for

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2 papers · 1 filter

cs.RO2024★ 25 cited

A two-speed actuator for robotics with fast seamless gear shifting

Alexandre Girard, H. Harry Asada

This paper present a novel dual-speed actuator adapted to robotics. In many applications, robots have to bear large loads while moving slowly and also have to move quickly through…

cs.RO2024★ 15 cited

Leveraging Natural Load Dynamics with Variable Gear-ratio Actuators

Alexandre Girard, H. Harry Asada

This paper presents a robotic system where the gear-ratio of an actuator is dynamically changed to either leverage or attenuate the natural load dynamics. Based on this principle,…