This paper presents a novel joint torque-based impedance controller for antagonistically driven flexible joints actuated by pneumatic cylinders and compares it with the current state of the art. The work targets on ...

For creating robots that are capable of human-like performance in terms of speed, energetic properties, and robustness, intrinsic compliance is a promising design element. In this paper, we investigate the principle effects ...

In this paper we introduce a novel robotics education concept entitled roboterfabrik. This approach is already implemented as a pilot project in the German educational system. Overall, we promote establishing the first ...