Despite enhancements in the development of robotic systems, the energy economy of
today's robots lags far behind that of biological systems. This is in particular critical for …

Compliance actuation systems are efficient and safe, drawing attention to their development.
However, compliance has caused bandwidth loss, instability, and mechanical vibration in …

We propose a novel, brain-inspired deep neural network model known as the Deep
Oscillatory Neural Network (DONN). Deep neural networks like the Recurrent Neural …

In this paper, based on the deterministic learning (DL) theory, an approach for detection for
small faults in a class of nonlinear closed-loop systems is proposed. First, the DL-based …

Pogo-stick bouncing or the spring loaded inverted pendulum represents fundamental
dynamics models for hopping and running in legged locomotion. However, these conceptual …

Activities like ball bouncing and trampoline jumping showcase the human ability to intuitively
tune to system dynamics and excite motions that the system prefers intrinsically. This human …

Although we do not know as yet how robots of the future will look like exactly, most of us are
sure that they will not resemble the heavy, bulky, rigid machines dangerously moving …

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 …

Robots that are not only robust, dynamic, and gentle in the human robot interaction, but are
also able to perform precise and repeatable movements, need accurate dynamics modeling …

To be operated in unknown or complex environments, modern robots have to fulfill various
challenging criteria. Among them, one finds requirements such as a high level of robustness …