6 citations · 17 across the 5 of their papers we have counts for
5 papers
Optimal Control for Clutched-Elastic Robots: A Contact-Implicit Approach
Dennis Ossadnik, Vasilije Rakčević, Mehmet C. Yildirim +4
Intrinsically elastic robots surpass their rigid counterparts in a range of different characteristics. By temporarily storing potential energy and subsequently converting it to kin…
ULT-model: Towards a one-legged unified locomotion template model for forward hopping with an upright trunk
Dennis Ossadnik, Elisabeth Jensen, Sami Haddadin
While many advancements have been made in the development of template models for describing upright-trunk locomotion, the majority of the effort has been focused on the stance phas…
Nonlinear stiffness allows passive dynamic hopping for one-legged robots with an upright trunk
Dennis Ossadnik, Elisabeth Jensen, Sami Haddadin
Template models are frequently used to simplify the control dynamics for robot hopping or running. Passive limit cycles can emerge for such systems and be exploited for energy-effi…
Optimally Controlling the Timing of Energy Transfer in Elastic Joints: Experimental Validation of the Bi-Stiffness Actuation Concept
Edmundo Pozo Fortunić, Mehmet C. Yildirim, Dennis Ossadnik +3
Elastic actuation taps into elastic elements' energy storage for dynamic motions beyond rigid actuation. While Series Elastic Actuators (SEA) and Variable Stiffness Actuators (VSA)…
BSA -- Bi-Stiffness Actuation for optimally exploiting intrinsic compliance and inertial coupling effects in elastic joint robots
Dennis Ossadnik, Mehmet C. Yildirim, Fan Wu +4
Compliance in actuation has been exploited to generate highly dynamic maneuvers such as throwing that take advantage of the potential energy stored in joint springs. However, the e…