Abstract: The mobility and manipulation of bipedal humanoid robots always depend on their legs, which account for balance and may substantially accelerate energy consumption, especially when the lower body is expected to be stationary. To this end, this article presents a biomimetic and energy-efficient design for bipedal robots’ legs and extensively demonstrates its … [Read more...] about A Biomimetic and Energy-Efficient Leg Design for a Humanoid Robot: An Exclusively Linear-Actuated Implementation
Muscles
Biomimetic Force and Impedance Adaptation Based on Broad Learning System in Stable and Unstable Tasks
This article presents a novel biomimetic force and impedance adaption framework based on the broad learning system (BLS) for robot control in stable and unstable environments. Different from iterative learning control, the adaptation process is realized by a neural network (NN)-based framework, similar to a BLS, to realize a varying learning rate for feedforward force and … [Read more...] about Biomimetic Force and Impedance Adaptation Based on Broad Learning System in Stable and Unstable Tasks
A Multimodal Fusion Model for Estimating Human Hand Force
Biomimetic robots have received significant attention in recent years. Among them, the wearable exoskeleton, which imitates the functions of the musculoskeletal system to assist humans, is a typical biomimetic robot. Given that safe human–robot interaction plays a critical role in the successful application of wearable exoskeletons, this work studies the clinical readiness of a … [Read more...] about A Multimodal Fusion Model for Estimating Human Hand Force
