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03/30/2023
Differentiable Environment Primitives for Contact State Estimation
In contact-rich manipulation, the robot dynamics are coupled with an env...
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12/03/2019
Safe rendering of high impedance on a series-elastic actuator with disturbance observer-based torque control
An important performance metric for series-elastic actuators is the rang...
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02/14/2019
Performance Analysis of Series Elastic Actuator based on Maximum Torque Transmissibility
The use of the Series Elastic Actuator (SEA) system as an actuator syste...
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02/14/2019