5 citations · 6 across the 5 of their papers we have counts for
5 papers
Joint-Space Control of a Structurally Elastic Humanoid Robot
Connor W. Herron, Christian Runyon, Isaac Pressgrove +3
In this work, the joint-control strategy is presented for the humanoid robot, PANDORA, whose structural components are designed to be compliant. As opposed to contemporary approach…
Angular Divergent Component of Motion: A step towards planning Spatial DCM Objectives for Legged Robots
Connor W. Herron, Robert Schuller, Benjamin C. Beiter +3
In this work, the Divergent Component of Motion (DCM) method is expanded to include angular coordinates for the first time. This work introduces the idea of spatial DCM, which adds…
PANDORA: The Open-Source, Structurally Elastic Humanoid Robot
Connor W. Herron, Alexander J. Fuge, Benjamin C. Beiter +10
In this work, the novel, open-source humanoid robot, PANDORA, is presented where a majority of the structural elements are manufactured using 3D-printed compliant materials. As opp…
Software Implementation of Digital Filtering via Tustin's Bilinear Transform
Connor W. Herron
The purpose of this work is to provide some notes on a software implementation for digital filtering via Tustins Bilinear Transform. The first section discusses how to solve for th…
Real-Time Model-Free Deep Reinforcement Learning for Force Control of a Series Elastic Actuator
Ruturaj Sambhus, Aydin Gokce, Stephen Welch +2
Many state-of-the art robotic applications utilize series elastic actuators (SEAs) with closed-loop force control to achieve complex tasks such as walking, lifting, and manipulatio…