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Research Project: VIACTORS: Variable Impedance Actuation Systems Embodying Advanced Interaction Behaviours
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2016

Wolf, S. and Grioli, G. and Eiberger, O. and Friedl, W. and Grebenstein, M. and Hoppner, H. and Burdet, E. and Caldwell, D.G. and Carloni, R. and Catalano, M.G. and Lefeber, D. and Stramigioli, S. and Tsagarakis, N. and van Damme, M. and van Ham, R. and Vanderborght, B. and Visser, L.C. and Bicchi, A. and Albu-Schaeffer, A. (2016) Variable stiffness actuators: review on design and components. IEEE/ASME Transactions on Mechatronics, 21 (5). pp. 2418-2430. ISSN 1083-4435 *** ISI Impact 3,851 ***

2015

Grioli, G. and Wolf, S. and Garabini, M. and Catalano, M. and Burdet, E. and Caldwell, D. and Carloni, R. and Friedl, W. and Grebenstein, M. and Laffranchi, M. and Lefeber, D. and Stramigioli, S. and Tsagarakis, N. and van Damme, M. and Vanderborght, B. and Albu-Shaeffer, A. and Bicchi, A. (2015) Variable stiffness actuators: the user’s point of view. International journal of robotics research, 34 (6). pp. 727-743. ISSN 0278-3649 *** ISI Impact 2,489 ***

2014

Roozing, W. and Carloni, R. (2014) Bipedal walking gait with variable stiffness knees. In: Proceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, 12-15 Aug 2014, Sao Paulo, Brazil. pp. 924-930. IEEE Robotics and Automation Society. ISSN 2155-1774 ISBN 978-1-4799-3126-2
Roozing, W.M. and Visser, L.C. and Carloni, R. (2014) Variable bipedal walking gait with variable leg stiffness. In: Proceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, 12-15 Aug 2014, Sao Paulo, Brazil. pp. 931-938. IEEE Robotics and Automation Society. ISSN 2155-1774 ISBN 978-1-4799-3126-2

2013

Ketekaar, J.G. and Visser, L.C. and Stramigioli, S. and Carloni, R. (2013) Controller design for a bipedal walking robot using variable stiffness actuators. In: Proceedings of the International Conference on Robotics and Automation, 6-10 May 2013, Karlsrhue, Germany. pp. 5650-5655. IEEE Robotics and Automation Society. ISBN 978-1-4673-5642-8
Vanderborght, B. and Albu-Schaeffer, A.Y. and Bicchi, A. and Burdet, E. and Caldwell, D.G. and Carloni, R. and Catalano, M. and Eiberger, O. and Friedl, W. and Ganesh, G. and Garabini, M. and Grebenstein, M. and Grioli, G. and Haddadin, S. and Hoppner, H. and Jafari, A. and Laffranchi, M. and Lefeber, D. and Petit, F. and Stramigioli, S. and Tsagarakis, N. and van Damme, M. and van Ham, R. and Visser, L.C. and Wolf, S. (2013) Variable impedance actuators: a review. Robotics and Autonomous Systems, 61 (12). pp. 1601-1614. ISSN 0921-8890 *** ISI Impact 1,618 ***
Visser, L.C. (2013) Variable Stiffness Actuators: Modeling, Control, and Application to Compliant Bipedal Walking. PhD thesis, Univ. of Twente. CTIT Ph.D.-thesis series No. 14-299 ISBN 978-90-365-3551-9
Visser, L.C. and Stramigioli, S. and Carloni, R. (2013) Control strategy for energy-efficient bipedal walking with variable leg stiffness. In: Proceedings of the International Conference on Robotics and Automation, 6-10 May 2013, Karlsrhue, Germany. pp. 5644-5649. IEEE Robotics and Automation Society. ISBN 978-1-4673-5642-8

2012

Carloni, R. and Marconi, L. (2012) Limit cycles and stiffness control with variable stiffness actuators. In: Proceedings of the IEEE International Conference on Intelligent Robots and Systems, 7-12 Oct 2012, Vilamoura, Portugal. pp. 5083-5088. IEEE Robotics and Automation Society. ISSN 2153-0858 ISBN 978-1-4673-1737-5
Carloni, R. and Visser, L.C. and Stramigioli, S. (2012) Variable Stiffness Actuators: A Port-Based Power-Flow Analysis. IEEE transactions on robotics, 28 (1). pp. 1-11. ISSN 1552-3098 *** ISI Impact 2,028 ***
Fumagalli, M. and Barrett, E. and Stramigioli, S. and Carloni, R. (2012) The mVSA-UT: a miniaturized differential mechanism for a continuous rotational variable stiffness actuator. In: Proceedings of the IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, 24-27 June 2012, Rome, Italy. pp. 1943-1948. IEEE Robotics and Automation Society. ISBN 978-1-4577-1200-5
Vanderborght, B. and Albu-Schaeffer, A. and Bicchi, A. and Burdet, E. and Caldwell, D.G. and Carloni, R. and Catalano, M.G. and Ganesh, G. and Garabini, M. and Grioli, G. and Haddadin, S. and Jafari, A. and Laffranchi, M. and Lefeber, D. and Petit, F. and Stramigioli, S. and Tsagarakis, N. and van Damme, M. and van Ham, R. and Visser, L.C. and Wolf, S. (2012) Variable impedance actuators: moving the robots of tomorrow. In: Proceedings of the IEEE/RSJ International Conference Intelligent Robots and Systems, 7-12 Oct 2012, Vilamoura, Portugal. pp. 5454-5455. IEEE Robotics and Automation Society. ISSN 2153-0858 ISBN 978-1-4673-1737-5
Visser, L.C. and Stramigioli, S. and Carloni, R. (2012) Robust Bipedal Walking with Variable Leg Stiffness. In: 4th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2012, 24-27 June 2012, Rome, Italy. pp. 1626-1631. IEEE Robotics and Automation Society. ISSN 2155-1774 ISBN 978-1-4577-1198-5

2011

Breedveld, P.C. (2011) Concept-Oriented Modeling of Dynamic Behavior. In: Bond Graph Modelling of Engineering Systems : Theory, Applications and Software Support. Springer Verlag, Berlin, pp. 3-52. ISBN 978-1-4419-9367-0
Jafarian, M. and van Oort, G. and Carloni, R. and Stramigioli, S. (2011) Performance Comparison of a Planar Bipedal Robot with Rigid and Compliant Legs. In: Proceedings of the 18th IFAC World Congress 2011, 28 Aug - 2 Sep 2011, Milan, Italy. International Federation of Automatic Control (IFAC). ISBN 978-3-902661-93-7
van Oort, G. (2011) Analysis, Control and Design of Walking Robots. PhD thesis, University of Twente. ISBN 978-90-365-3264-8
van Oort, G. and Carloni, R. and Borgerink, D.J. and Stramigioli, S. (2011) An Energy Efficient Knee Locking Mechanism for a Dynamically Walking Robot. In: Proceedings of the IEEE International Conference on Robotics and Automation, ICRA 2011, 9-13 May 2011, Shanghai, China. pp. 2003-2008. IEEE Robotics and Automation Society. ISBN 978-1-61284-385-8
van Oort, G. and Reinink, R. and Stramigioli, S. (2011) New ankle actuation mechanism for a humanoid robot. In: Proceedings of the 18th IFAC World Congress 2011, 28 Aug - 2 Sep 2011, Milan, Italy. 7. International Federation of Automatic Control (IFAC). ISBN 978-3-902661-93-7
van Oort, G. and Stramigioli, S. (2011) Geometric interpretation of the Zero-Moment Point. In: Proceedings of the IEEE International Conference on Robotics and Automation, ICRA 2011, 09-13 May 2011, Shanghai, China. pp. 575-580. IEEE Robotics and Automation Society. ISBN 978-1-61284-385-8
Rao, S. and Carloni, R. and Stramigioli, S. (2011) A novel energy-efficient rotational variable stiffness actuator. In: Proceedings of the IEEE International Conference of Engineering in Medicine and Biology Society, EMBC 2011, 30 Aug - 3 Sep 2011, Boston, USA. pp. 8175-8178. IEEE Engineering in Medicine & Biology Society. ISBN 978-1-4244-4122-8
Visser, L.C. and Carloni, R. and Stramigioli, S. (2011) Energy-Efficient Variable Stiffness Actuators. IEEE transactions on robotics, 27 (5). pp. 865-875. ISSN 1552-3098 *** ISI Impact 2,028 ***
Visser, L.C. and de Geus, W. and Stramigioli, S. and Carloni, R. (2011) Human-like Walking with Compliant Legs. In: Proceedings of the 4th Workshop on Human-Friendly Robotics (HFR 2011), 8-9 Nov 2011, Enschede. University of Twente. ISBN not assigned
Visser, L.C. and Stramigioli, S. and Bicchi, A. (2011) Embodying Desired Behavior in Variable Stiffness Actuators. In: Proceedings of the 18th IFAC World Congress 2011, 28 Aug - 02 Sep 2011, Milan, Italy. pp. 9733-9738. IFAC. ISBN 978-3-902661-93-7

2010

van Oort, G. and Stramigioli, S. (2010) Coordinate transformation as a help for controller design in walking robots. In: 29th Benelux Meeting on Systems and Control, 30 March - 1 April 2010, Heeze, The Netherlands. pp. 110-110. Wageningen University - Biometris. ISBN 978-90-8585-672-6
Visser, L.C. and Carloni, R. and Ünal, R. and Stramigioli, S. (2010) Modeling and design of energy efficient variable stiffness actuators. In: Proceedings of the IEEE International Conference on Robotics and Automation, 2010, 3-7 May, 2010, Anchorage, Alaska, USA. pp. 3273-3278. IEEE Robotics and Automation Society. ISBN 978-1-4244-5038-1
Visser, L.C. and Carloni, R. and Klijnstra, F. and Stramigioli, S. (2010) A prototype of a novel energy efficient variable stiffness actuator. In: Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2010, 31 Aug - 04 Sep, 2010, Buenos Aires, Argentina. pp. 3703-3706. IEEE Robotics and Automation Society. ISSN 1557-170X ISBN 978-1-4244-4123-5
Visser, L.C. and Carloni, R. and Stramigioli, S. (2010) Variable stiffness actuators: A port-based analysis and a comparison of energy efficiency. In: Proceedings of the IEEE International Conference on Intelligent Robotics and Automation, 2010, 3-7 May, 2010, Anchorage, Alaska, USA. pp. 3279-3284. IEEE Robotics and Automation Society. ISBN 978-1-4244-5038-1
Visser, L.C. and Carloni, R. and Stramigioli, S. (2010) Energy Efficient Actuation with Variable Stiffness Actuators. In: Proceedings of the 3rd Workshop for Young Researchers on Human-Friendly Robotics (HFR 2010), 28-29 Oct 2010, Tübingen, Germany. 5. Max Planck Institute. ISBN not assigned
Visser, L.C. and Carloni, R. and Stramigioli, S. (2010) Energy Efficient Control of Robots with Variable Stiffness Actuators. In: Proceedings of the 8th IFAC Symposium on Nonlinear Control Systems, NOLCOS 2010, 01-03 Sep 2010, Bologna, Italy. pp. 1199-1204. IFAC. ISBN 978-3-902661-80-7
Visser, L.C. and Carloni, R. and Stramigioli, S. (2010) Towards a new generation of robots. Mikroniek, 50 (5). pp. 5-10. ISSN 0026-3699

2009

Gerelli, O. and Carloni, R. and Stramigioli, S. (2009) Port-based modeling and optimal control for a new very versatile energy efficient actuator. In: Proceedings of the 9th International Symposium on Robot Control, 9-12 Sep 2009, Gifu, Japan. Article 79. Symposium on Robot Control (9). IFAC International Federation of Automatic Control. ISBN 978-3-902661-60-9
van Oort, G. and Stramigioli, S. (2009) Control of walking robots using virtual springs. In: 28th Benelux Meeting on Systems and Control, 16-18 March 2009, Spa, Belgium. pp. 65-65. Association des Ingenieurs de Montefiore. ISBN not assigned
Stramigioli, S. and Duindam, V. and van Oort, G. and Goswami, A. (2009) Compact analysis of 3D bipedal gait using geometric dynamics of simplified models. In: Robotics and Automation, 2009. ICRA '09. IEEE International Conference on, 12-17 May 2009, Kobe, Japan. pp. 1978-1984. IEEE Robotics and Automation Society. ISBN 978-1-4244-2789-5

2007

van Oort, G. and Stramigioli, S. (2007) Velocity control of a 2D dynamic walking robot. In: Proceedings of the 26th Benelux Meeting on Systems and Control, 13-15 mar 2007, Lommel, België. Katholieke Universiteit Leuven. ISBN 9789073802841