We work on the theory of mechanically adaptive robot exoskeletons, to create unpowered but mechanically-adaptive devices and devices driven by small actuators (for example, a small electric motor), that provide the human with capabilities beyond those of an unassisted human,…
Actuators are one of the key components of robots; they are used in industrial robots, humanoids, but also automobiles. We focus on developing compliant actuators which consist of springs attached in series or parallel with motors. The most common types…
We promote the optimization of robot performance via real-time experiments guided by dedicated teacher robots, instead of optimizing system performance guided by uncertain model-based predictions and measured data. The method we develop is where robots are used to develop controllers…
Understanding the principles underlying human motion is the first step in developing robots for human assistance and augmentation; exoskeletons for rescue operations, or to assist in case of locomotor impairment due to illness or injury. In this research, we investigate…
Robots that interact with the environment are constrained dynamical systems. Constrained dynamical systems can be modeled using a set of differential equations subject to holonomic and non-holonomic constraints; algebraic constraints. One way to approximately model the constrained dynamics of these…