16 citations · 16 across the 4 of their papers we have counts for
4 papers · 1 filter
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…
Efficient Real-World Online Reinforcement Learning for Robot Manipulation via Centralized Training and Critic Decomposition
Changhao Li, Yifang Zhang, Heng Zhang +6
Real-world online reinforcement learning (RL) provides a promising approach for training robotic manipulation policies directly in the physical world, avoiding the sim-to-real gap…
KYON: Semi-Modular Wheel-Legged Quadruped With Agile Bimanual Capability
Luca Rossini, Arturo Laurenzi, Francesco Ruscelli +8
This paper presents KYON, a hybrid wheel-legged quadruped robot equipped with a bimanual upper body for loco-manipulation tasks. The platform features a semi-modular design with a…
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…