As an important basic component of quadruped robots, mechanical legs provide the robots
with excellent maneuverability and versatility, which determine the core application …

Compliance control is highly relevant to human safety in human–robot interaction (HRI). This
paper presents a review of various compliance control techniques. The paper is aimed to …

This paper focuses on the posture control performance on uneven terrain for a wheel-legged
robot (WLR). Firstly, a novel four-wheel-legged robot (FWLR) with series slow active …

Compliance is increasingly being incorporated in the transmission of robotics actuation
systems to cope with unpredictable interactions, improve the robustness of the robot and in …

Compliant actuators are employed in exoskeleton robots instead of stiff actuators for safe
human-robot interaction. In parallel with this idea, we previously constructed a biomimetic …

In general, actuators are built to be as stiff as possible to increase the bandwidth. When a
robot works in a structured environment, its automation is easier than in a nonstructured …

The development of functional legged robots has encountered its limits in human-made
actuation technology. This paper describes research on the biomimetic design of legs for …

Compliant actuator technology aims at building robots capable of physically interacting with
humans and the environment, matching the versatility and capacity of biological systems …

In this work we introduce a position control scheme which is targeted at the enhancement of
the safety of compliant joint robots. In addition to the necessity for accuracy and robustness …

Active actuation is an essential method to enhance the performance of the prosthetic knee
joint. In this paper, a new nonlinear series elastic actuator based on the conjugate cylindrical …