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2016


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On designing an active tail for legged robots: simplifying control via decoupling of control objectives

Heim, S. W., Ajallooeian, M., Eckert, P., Vespignani, M., Ijspeert, A. J.

Industrial Robot: An International Journal, 43, pages: 338-346, Emerald Group Publishing Limited, 2016 (article)

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Preprint [BibTex]

2016


Preprint [BibTex]


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ATRIAS: Design and validation of a tether-free 3D-capable spring-mass bipedal robot

Hubicki, C., Grimes, J., Jones, M., Renjewski, D., Spröwitz, A., Abate, A., Hurst, J.

{The International Journal of Robotics Research}, 35(12):1497-1521, Sage Publications, Inc., Cambridge, MA, 2016 (article)

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DOI Project Page [BibTex]

DOI Project Page [BibTex]


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On designing an active tail for body-pitch control in legged robots via decoupling of control objectives

Heim, S. W., Ajallooeian, M., Eckert, P., Vespignani, M., Ijspeert, A.

In ASSISTIVE ROBOTICS: Proceedings of the 18th International Conference on CLAWAR 2015, pages: 256-264, 2016 (inproceedings)

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[BibTex]

[BibTex]

2006


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Passive compliance for a RC servo-controlled bouncing robot

Meyer, F., Spröwitz, A., Berthouze, L.

Advanced Robotics, 20(8):953-961, 2006 (article)

Abstract
A novel and low-cost passively compliant mechanism is described that can be used with RC servos to actuate legged robots in tasks involving high dynamic loads such as bouncing. Compliance is achieved by combining visco-elastic material and metal parts. Joint response to dynamic loads is evaluated using real-world experiments and force data are obtained from a Lagrangian analysis of the system. The experimental results demonstrate the applicative potential of this mechanism.

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DOI [BibTex]

2006


DOI [BibTex]


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Project course "Design of Mechatronic Systems"

Koch, C., Spröwitz, A., Radler, O., Strohla, T.

In IEEE International Conference on Mechatronics, pages: 69-72, IEEE, Budapest, 2006 (inproceedings)

Abstract
The course "Design of Mechatronic Systems" at Technische Universität Ilmenau imparts the systematic procedure of mechatronic design. This paper shows the main features of VDI Guideline 2206, which provides the structured background for students education in mechatronics. Furthermore practical teaching experiences and results from the course are described.

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DOI [BibTex]

DOI [BibTex]