The contribution of the body to cognition and control in natural and artificial agents is
increasingly described as “offloading computation from the brain to the body,” where the …

A slim manipulator with redundant degrees of freedom can be of great use for inspection
and maintenance in confined spaces. Cable-actuation is often preferred because of the …

This article addresses the problem of simultaneous and robust closed-loop control of joint
stiffness and position, for a class of antagonistically actuated pneumatic soft robots with rigid …

Anthropomimetic robotics differs from conventional approaches by capitalizing on the
replication of the inner structures of the human body, such as muscles, tendons, bones, and …

Robots will become ubiquitously useful only when they require just a few attempts to teach
themselves to perform different tasks, even with complex bodies and in dynamic …

This article delineates the formulation and verification of an innovative robotic elbow-and-
forearm system design, mirroring the intricate biomechanics of human musculoskeletal …

The body structure of an anatomically correct tendon-driven musculoskeletal humanoid is
complex, and the difference between its geometric model and the actual robot is very large …

Cable-driven exoskeletons are light-weight devices that can provide joint torques to assist or
augment human function during locomotion. However, cable mechanisms actuating joints …

An anthropomimetic robot is one that closely copies the mechanics of the human body by
having a human-like jointed skeleton moved by compliant muscle-like actuators. This paper …

Stiffness modulation in walking is critical to maintain static/dynamic stability as well as to
minimize energy consumption and impact damage. However, optimal, or even functional …