Category Publications

Stiffness Modulator: A Novel Actuator for Human Augmentation

Algorithmic Design of Low Power Variable Stiffness Mechanisms

Analytical Conditions for the Design of Variable Stiffness Mechanisms

Efficiently Tuneable Positive-Negative Stiffness Actuator

Criterion for the Design of Low Power Variable Stiffness Mechanisms

Spatio-Temporal Stiffness Optimization in Movements with Switching Dynamics

Self-tuning Bistable Parametric Oscillator: Near-optimal Amplitude Maximization without Model Information

Optimal Control of Variable Stiffness Policies: Dealing with Switching Dynamics and Model Mismatch

Compliant Actuation for Energy Efficient Impedance Modulation

Optimal Parametric Feedback Excitation of Nonlinear Oscillators

Robots Driven by Compliant Actuators: Optimal Control under Actuation Constraints

Transferring Human Impedance Behavior to Heterogeneous Variable Impedance Actuators

Optimal Variable Stiffness Control: Formulation and Application to Explosive Movement Tasks

Simulation of Constrained Mechanical Systems – Part I: An Equation of Motion

Simulation of Constrained Mechanical Systems – Part II: Explicit Numerical Integration

Actuated Dynamic Walking in a Seven-Link Biped Robot

Optimal torque and stiffness control in compliantly actuated robots

Exploiting variable physical damping in rapid movement tasks

Exploiting variable stiffness in explosive movement tasks

Constraint-based equilibrium and stiffness control of variable stiffness actuators

A Control Approach for Actuated Dynamics Walking in Biped Robots

Elimination of Constrained Drift in the Numerical Simulation of Constrained Dynamical Systems

A Controller for Dynamic Walking in Bipedal Robots

Actuated Dynamic Walking in Biped Robots: Control Approach, Robot Design and Experimental Validation

Adaptive steady-state stabilization for nonlinear dynamical systems

On the Optimal Shape of a Compressed Rotating Rod with Shear and Extensibility

The Strongest Rotating Rod