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Variable Ankle Stiffness Improves Balance Control: Experiments on a Bipedal Exoskeleton
IEEE/ASME transactions on mechatronics, 2016-02, Vol.21 (1), p.79-87
2016
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A Stability Analysis for the Acceleration-Based Robust Position Control of Robot Manipulators via Disturbance Observer
IEEE/ASME transactions on mechatronics, 2018-10, Vol.23 (5), p.2369-2378
2018
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Proof of Concept for Robot-Aided Upper Limb Rehabilitation Using Disturbance Observers
IEEE transactions on human-machine systems, 2015-02, Vol.45 (1), p.110-118
2015
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Agile and stable running locomotion control for an untethered and one-legged hopping robot
Autonomous robots, 2021-09, Vol.45 (6), p.805-819
2021
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Stable Control of Force, Position, and Stiffness for Robot Joints Powered via Pneumatic Muscles
IEEE transactions on industrial informatics, 2019-12, Vol.15 (12), p.6270-6279
2019
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Design and Control of a Novel Variable Stiffness Series Elastic Actuator
IEEE/ASME transactions on mechatronics, 2023-06, Vol.28 (3), p.1534-1545
2023
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Benchmarking Torque Control Strategies for a Torsion-Based Series Elastic Actuator
IEEE robotics & automation magazine, 2022-06, Vol.29 (2), p.2-13
2022
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Learning to exploit passive compliance for energy-efficient gait generation on a compliant humanoid
Autonomous robots, 2019-01, Vol.43 (1), p.79-95
2019
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Robust Locomotion Control of a Self-Balancing and Underactuated Bipedal Exoskeleton: Task Prioritization and Feedback Control
IEEE robotics and automation letters, 2021-07, Vol.6 (3), p.5626-5633
2021
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Design and development of a durable series elastic actuator with an optimized spring topology
Proceedings of the Institution of Mechanical Engineers. Part C, Journal of mechanical engineering science, 2021-12, Vol.235 (24), p.7848-7858
2021
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Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on RoboCat-1 and HyQ
Autonomous robots, 2015-04, Vol.38 (4), p.415-437
2015
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Challenges and solutions for application and wider adoption of wearable robots
Wearable technologies, 2021, Vol.2, p.e14-e14, Article e14
2021
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Torque and variable stiffness control for antagonistically driven pneumatic muscle actuators via a stable force feedback controller
2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, p.1633-1639
2015
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Preview Control-based Jumping and Spot-Jogging Trajectory Generation for Quadruped Robots
2023 IEEE 21st International Conference on Industrial Informatics (INDIN), 2023, p.1-6
2023
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強化学習を用いてダンパ係数を指定した4脚ロボットのコンプライアンス制御
日本ロボット学会誌, 2017, Vol.35(5), pp.414-423
2017
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On the Backward Hopping Problem of Legged Robots
IEEE transactions on industrial electronics (1982), 2014-03, Vol.61 (3), p.1632-1634
2014
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ZMP-Based Online Jumping Pattern Generation for a One-Legged Robot
IEEE transactions on industrial electronics (1982), 2010-05, Vol.57 (5), p.1701-1709
2010
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Force Reference Extraction via Human Interaction for a Robotic Polishing Task: Force-Induced Motion
2019 IEEE International Conference on Systems, Man and Cybernetics (SMC), 2019, p.4019-4024
2019
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Development of an upper limb exoskeleton powered via pneumatic electric hybrid actuators with bowden cable
2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014, p.3573-3578
2014
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Transdisciplinarity as a Learning Challenge: Student Experiences and Outcomes in an Innovative Course on Wearable and Collaborative Robotics
IEEE transactions on education, 2023-06, Vol.66 (3), p.1-0
2023
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Mechanical Design Procedures for Series Elastic Actuators
Mühendislik bilimleri dergisi, 2019, Vol.25 (1), p.34-42
2019
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Bipedal Trajectory Generation Based on Combining Inertial Forces and Intrinsic Angular Momentum Rate Changes: Eulerian ZMP Resolution
IEEE transactions on robotics, 2012-12, Vol.28 (6), p.1406-1415
2012
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Dynamic trot-walking with the hydraulic quadruped robot - HyQ: Analytical trajectory generation and active compliance control
2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013, p.6044-6051
2013
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Seri elastik eyleyiciler için mekanik tasarım süreçleri
Mühendislik bilimleri dergisi, 2019-02, Vol.25 (1), p.34-42
2019
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A Custom Brace Design to Connect a User Limb to an Exoskeleton Link with Minimal Discomfort
2021 IEEE 19th International Conference on Industrial Informatics (INDIN), 2021, p.1-6
2021
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