In this paper we present a novel implementation of hardware synergies realized on the actuation level by leveraging on a novel adjustable electric actuation topology principle.
This work proposes a novel optimization based controller that can accommodate various quadratic criteria to perform the torque distribution among dissimilar series and parallel actuators in order to maximize the motion efficiency.
This work presents the development, modeling, and control of a three-degree-of-freedom compliantly actuated leg called the eLeg, which employs both series- and parallel-elastic actuation as well as a bio-inspired biarticular tendon.
In this letter, we introduce the design of a wheeled-legged mobile manipulation platform capable of executing demanding manipulation tasks, and demonstrating significant physical resilience while possessing a body size (height/width) and weight compatible to that of a human.
This paper presents the design and implementation details of an efficient robotic leg (eLeg) prototype in which series-elastic actuation is combined with adjustable parallel compliance to significantly improve its energy efficiency.
This paper introduces the design of a novel under-actuated hand with highly integrated modular finger units, which can be easily reconfigured in terms of finger arrangement and number to account for the manipulation needs of different applications.
This work presents the development of a 3-DoF leg with series and parallel compliant actuation. Series-elastic main actuators are combined with parallel high efficiency energy storage branches, to substantially improve energy efficiency.
This paper describes a novel tendon driven three-finger under-actuated hand, which demonstrates balanced dexterous finger manipulation and powerful grasping of common objects.
This paper presentes the overview work of Team ZJUNlict (Championship of 2014 Small Size Leauge) in 2014 RoboCup.