Legged locomotion requires highly dynamic and efficient actuation as well as robust
environment interaction. In the past years soft robots with elastic actuation have been …

Bipedal locomotion is a difficult control problem due to issues such as underactuation,
unilateral constraints and the hybrid nature of stepping. In this work, using the reduced …

Series-elastic and viscoelastic robots can provide performance gains in applications with
high dynamics. Harnessing these, requires an understanding of the dynamics of the system …

Control of robot locomotion profits from the use of pre-planned trajectories. This paper
presents a way to generalize globally optimal and dynamically consistent trajectories for …

Series-Elastic Actuators (SEA) have been proposed as a technology to build robust
humanoid robots. The aim of this work is to generate efficient and robust walking for such …

The work presented in this thesis is motivated by the great strength of optimal control and
numerical optimization in generating feasible and optimal trajectories for complex robot …

Trajectory optimization techniques to control biped walkers are becoming popular with
improvements in available solvers. However, many of the proposed controllers assume that …

Different from the traditional arm joint, elastomer is introduced into the series elastic actuator,
SEA, and the stiffness of elastomer will have a great impact on the system performance. To …

This thesis marks the conclusion of my 7.5 years as a student in Delft and is the culmination
of my research over the past year. It was a long but enjoyable ride, and I can only say that I …

The great promise of series elastic actuation as an effective mean to improve the efficiency
of dynamic bipedal locomotion is challenged by the difficulties in properly exploiting the …