214 citations · 332 across the 8 of their papers we have counts for
9 papers
A Dual-Cam Parallel Elastic Actuator with Shared Gas-Spring Compensation for Humanoid Ankles
Jingcheng Jiang, Yifang Zhang, Nikos G. Tsagarakis
To improve torque capacity and energy efficiency of humanoid ankles, this paper proposes a 2-DoF parallel elastic actuator (PEA). The main novelty of the proposed design lies in it…
Wearable Haptics for a Marionette-inspired Teleoperation of Highly Redundant Robotic Systems
Davide Torielli, Leonardo Franco, Maria Pozzi +4
The teleoperation of complex, kinematically redundant robots with loco-manipulation capabilities represents a challenge for human operators, who have to learn how to operate the ma…
A Laser-guided Interaction Interface for Providing Effective Robot Assistance to People with Upper Limbs Impairments
Davide Torielli, Liana Bertoni, Luca Muratore +1
Robotics has shown significant potential in assisting people with disabilities to enhance their independence and involvement in daily activities. Indeed, a societal long-term impac…
Exo-muscle: A semi-rigid assistive device for the knee
Yifang Zhang, Arash Ajoudani, Nikos G Tsagarakis
In this work, we introduce the principle, design and mechatronics of Exo-Muscle, a novel assistive device for the knee joint. Different from the existing systems based on rigid exo…
Curved patch mapping and tracking for irregular terrain modeling: Application to bipedal robot foot placement
Dimitrios Kanoulas, Nikos G. Tsagarakis, Marsette Vona
Legged robots need to make contact with irregular surfaces, when operating in unstructured natural terrains. Representing and perceiving these areas to reason about potential conta…
Keep Rollin' - Whole-Body Motion Control and Planning for Wheeled Quadrupedal Robots
Marko Bjelonic, C. Dario Bellicoso, Yvain de Viragh +4
We show dynamic locomotion strategies for wheeled quadrupedal robots, which combine the advantages of both walking and driving. The developed optimization framework tightly integra…
Object Captioning and Retrieval with Natural Language
Anh Nguyen, Thanh-Toan Do, Ian Reid +2
We address the problem of jointly learning vision and language to understand the object in a fine-grained manner. The key idea of our approach is the use of object descriptions to…
Artificial Delay Based ARC of a Class of Uncertain EL Systems with Only Position Feedback
Spandan Roy, Indra Narayan Kar, Jinoh Lee +2
In this paper, the tracking control problem of an Euler-Lagrange system is addressed with regard to parametric uncertainties, and an adaptive-robust control strategy, christened Ti…
Adaptive-Robust Control of a Class of Uncertain Nonlinear Systems Utilizing Time-Delayed Input and Position Feedback
Spandan Roy, Indra Narayan Kar
In this paper, the tracking control problem of a class of Euler-Lagrange systems subjected to unknown uncertainties is addressed and an adaptive-robust control strategy, christened…