This paper presents a unified framework for the design and development of a passive biped
robot and of its digital twin. A serial procedure is followed starting from the system's physical …

Passive dynamic walking of bipeds exhibits a new concept of robot locomotion that is well-
known for its success in human mimicry. Many efforts have been devoted in the literature to …

We present a control-aware design optimization method for quadrupedal robots. In
particular, we show that it is possible to analytically differentiate typical, inverse dynamics …

Toward swift running on biped robots, this article provides a complete design approach for a
robot leg featuring reduced rotational inertia and introduces a novel mechanic optimization …

The hydraulic joint is the key driving component of a robot. To reduce the joint size of the
hydraulic robot, and improve the control accuracy and dynamic response performance, this …

Actuation concepts such as Series Elastic Actuation (SEA), Parallel Elastic Actuation (PEA),
and Biarticular Actuation (BA), which introduce elastic elements into the structure, have the …

In this study, the conventional virtual chain method is refined and a 4‐degrees‐of‐freedom
(DOF) parallel bipedal mechanism (PBM) for walking robots is presented. The proposed …

This dissertation presents the innovative design and development of PANDORA, a full-sized
humanoid robot that stands 1.9 meters tall and weighs 45 kilograms. Its highly configurable …

The increasing number of robots and the rising cost of electricity have spurred research into
energy-reducing concepts in robotics. One such concept, elastic actuation, introduces …

Focusing on the ball double-screw hydraulic knee joint as the research object, this paper
analyzes the load driving performance of the hydraulic knee joint. Taking the posture data of …