Abstract: Many humanoid and multi-legged robots are controlled in positions rather than in torques, which prevents direct control of contact forces, and hampers their ability to create multiple ...

The movement capability of humanoid robots starts at the joints. Harmonic joint modules are the core enabler of agile motion.

Abstract: In this paper, an upper limb prosthesis has been furnished with a novel vision-based manipulation and grasping strategy. The proposed whole-body safety-critical control design includes ...