4 citations · 5 across the 4 of their papers we have counts for
8 papers
Slack-based tunable damping leads to a trade-off between robustness and efficiency in legged locomotion
An Mo, Fabio Izzi, Emre Cemal Gönen +2
Animals run robustly in diverse terrain. This locomotion robustness is puzzling because axon conduction velocity is limited to a few ten meters per second. If reflex loops deliver…
Diaphragm Ankle Actuation for Efficient Series Elastic Legged Robot Hopping
Marco Bolignari, An Mo, Marco Fontana +1
Robots need lightweight legs for agile locomotion, and intrinsic series elastic compliance has proven to be a major ingredient for energy-efficient locomotion and robust locomotion…
A Control Method to Compensate Ground Level Changes for Running Bipedal Robots
Özge Drama, Alexander Badri-Spröwitz
Bipedal running is a difficult task to realize in robots, since the trunk is underactuated and control is limited by intermittent ground contacts. Stabilizing the trunk becomes eve…
Postural Stability in Human Running with Step-down Perturbations: An Experimental and Numerical Study
Özge Drama, Johanna Vielemeyer, Alexander Badri-Spröwitz +1
Postural stability is one of the most crucial elements in bipedal locomotion. Bipeds are dynamically unstable and need to maintain their trunk upright against the rotations induced…
A Learnable Safety Measure
Steve Heim, Alexander von Rohr, Sebastian Trimpe +1
Failures are challenging for learning to control physical systems since they risk damage, time-consuming resets, and often provide little gradient information. Adding safety constr…
An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research
Felix Grimminger, Avadesh Meduri, Majid Khadiv +10
We present a new open-source torque-controlled legged robot system, with a low-cost and low-complexity actuator module at its core. It consists of a high-torque brushless DC motor…