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RISOn the Comprehensive Kinematics Analysis of a Humanoid Parallel Ankle Mechanism
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In this paper, we present a thorough kinematics analysis of a humanoid two degrees-of-freedom (DoF) ankle module based on a parallel kinematics mechanism. Compared with the conventional serial configuration, the parallel ...
Stiffness Design for a Spatial Three Degrees of Freedom Serial Compliant Manipulator Based on Impact Configuration Decomposition
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper proposes a method of stiffness design for a spatial Three Degrees of Freedom (3DOF) serial compliant manipulator with the objective of protecting the compliant joint actuators when the manipulator comes up against ...
Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents unified control schemes for compliant humanoid robots that are aimed at ensuring successful execution of both balancing tasks and walking trajectories for this class of bipeds, given the complexity of ...
Closure to “Discussion: Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 0310
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This closure exposes the technical inconsistencies, erroneous comments, and misconceptions contained in the Discussion Article (Medrano-Cerda, 2020, “Discussion: ‘Selective Compliance-Based Lagrange Model and Multilevel ...