Robotic and mechatronic systems, autonomous vehicles, electric power systems and smart
grids, as well as manufacturing and industrial production systems can exhibit complex …

Anthropomorphic robots that aim to approach human performance agility and efficiency are
typically highly redundant not only in their kinematics but also in actuation. Variable …

Transferring solutions found by trajectory optimization to robotic hardware remains a
challenging task. When the optimization fully exploits the provided model to perform …

Strict requirements must be met before robotic systems can be implemented in a human
environment, for example, as service robots. Robustness, task adaptability, and energy …

Until now, design of variable physical impedance actuators (VIAs) has been limited mainly to
realising variable stiffness while other components of impedance shaping, such as damping …

Variable stiffness actuators (VSAs) are a new generation of robotic drives that are developed
to enhance the robot's ability to safely interact with unknown and dynamic environments …

While stochastic optimal control, together with associate formulations like Reinforcement
Learning, provides a formal approach to, amongst other, motor control, it remains …

Transverse ricochetal brachiation is a sophisticated locomotion style that mimics athletes
swinging their bodies with their hands on a ledge in order to propel themselves for a leap to …

This article presents a design for a variable impedance actuator capable of changing
stiffness and damping through the heating of a thermoplastic polymer, in an off-line manner …

Robot grasping of objects based on variable stiffness actuation not only improves the safety
and robustness of the grasp but also enhances dynamic manipulation. In this paper, we …