The formulation and optimization of joint trajectories for humanoid robots is quite different from this same task for standard robots because of the complexity of humanoid robots’ kinematics and dynamics. In this paper we exploit the similarity between human motion and humanoid robot motion to generate joint trajectories for humanoids. In particular, we show how to transform human motion inform...

SUMMARY Achieving energy-efficient and high-speed dynamic walking has become one of the main subjects of research in the area of robotic biped locomotion, and passive dynamic walking has attracted a great deal of attention as a solution to this. It is empirically known that the convex curve of the foot, which characterizes passive–dynamic walkers, has an important effect on increasing the walki...

New generation robots, meant for physical human robot interactions, are no longer rigid; it has become soft in terms of introduction of considerable flexibility at the actuated joints, flexibility of the links and in terms of compliant coverings. Safety requirement becomes primary in situations where physical interactions occur, calling for compliance; but accuracy and control bandwidth get com...

This paper presents the clinical motivation, design specifications, kinematics, statics, and actuation compensation for a newly constructed telerobotic system for Minimally Invasive Surgery (MIS) of the throat. A hybrid dual-arm telesurgical slave, with twenty joint-space Degrees of Freedom (DoF), is used in this telerobotic system to provide the necessary dexterity in deep surgical fields such...

To improve training and education in orthopaedics, the multimodal Munich Knee Joint Simulator is being developed at the Technische Universität München. Its haptic display comprises two force torque sensor equipped robots with three and six degrees of freedom to actuate an upper leg and a lower leg prosthesis, respectively. They are virtually coupled via dynamic biomechanical models of the knee ...

Modern Lightweight robots are constructed to be collaborative, which often results in a low structural stiffness compared conventional rigid robots. Therefore, the controller must able handle dynamic oscillatory effect mainly due intrinsic joint elasticity. Singular perturbation theory makes it possible decompose flexible dynamics into fast and slow subsystems. This model separation provides ad...