Abstract: A novel type of dynamic vibration absorber (DVA) is proposed, which consists of a tuned mass damper (TMD) and tuned sloshing damper (TSD) connected in series to the structure. The system enables the expensive viscous damping ...

Abstract: This paper focuses on the development of a model-based feedback controller to realize high versatility of fully actuated planar bipedal robotic walking. To conveniently define both symmetric and asymmetric walking patterns, ...

Abstract: A safety-critical measure of legged locomotion performance is a robot's ability to track its desired time-varying position trajectory in an environment, which is herein termed as “global-position tracking.” This paper ...