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  1. Learning Skills From Demonstrations: A Trend From Motion Primitives to Experience Abstraction

    Article • IEEE Transactions on Cognitive and Developmental Systems, February 2024, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  2. Towards Gaze-contingent Visualization of Real-time 3D Reconstructed Remote Scenes in Mixed Reality

    Article • July 2023, ACM (Association for Computing Machinery)

    Prof Darwin G Caldwell, Paolo Fiorini, Yonas Tefera

  3. Robotic Devices for Assisted and Autonomous Intravenous Access

    Article • IEEE Transactions on Medical Robotics and Bionics, May 2023, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  4. State of the Art in Wearable Wrist Exoskeletons Part I: Background Needs and Design Requirements

    Article • Machines, April 2023, MDPI AG

    Prof Darwin G Caldwell

  5. Using deep learning for pruning region detection and plant organ segmentation in dormant spur-pruned grapevines

    Article • Precision Agriculture, March 2023, Springer Science + Business Media

    Prof Darwin G Caldwell

  6. A Dual Forward–Backward Algorithm to Solve Convex Model Predictive Control for Obstacle Avoidance in a Logistics Scenario

    Article • Electronics, January 2023, MDPI AG

    Prof Darwin G Caldwell

  7. Active and Passive Back-Support Exoskeletons: A Comparison in Static and Dynamic Tasks

    Article • IEEE Robotics and Automation Letters, July 2022, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  8. Improving the Efficacy of an Active Back-Support Exoskeleton for Manual Material Handling Using the Accelerometer Signal

    Article • IEEE Robotics and Automation Letters, July 2022, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  9. Shoulder-sideWINDER (Shoulder-side Wearable INDustrial Ergonomic Robot): Design and Evaluation of Shoulder Wearable Robot With Mechanisms to Compensate for Joint Misalignment

    Article • IEEE Transactions on Robotics, June 2022, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  10. Design of the Crawler Units: Toward the Development of a Novel Hybrid Platform for Infrastructure Inspection

    Article • Applied Sciences, May 2022, MDPI AG

    Prof Darwin G Caldwell

  11. Control Strategy for Shoulder-SideWINDER With Kinematics, Load Estimation, and Friction Compensation: Preliminary Validation

    Article • IEEE Robotics and Automation Letters, April 2022, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  12. Design of a Novel Long-Reach Cable-Driven Hyper-Redundant Snake-like Manipulator for Inspection and Maintenance

    Article • Applied Sciences, March 2022, MDPI AG

    Prof Darwin G Caldwell

  13. Reconfigurable and Agile Legged-Wheeled Robot Navigation in Cluttered Environments With Movable Obstacles

    Article • IEEE Access, January 2022, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  14. Vision-Guided Autonomous Robotic Electrical Bio-Impedance Scanning System for Abnormal Tissue Detection

    Article • IEEE Transactions on Medical Robotics and Bionics, November 2021, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  15. Back-Support Exoskeleton Control Strategy for Pulling Activities: Design and Preliminary Evaluation

    Article • Designs, June 2021, MDPI AG

    Prof Darwin G Caldwell

  16. Physical Comfort of Occupational Exoskeletons: Influence of Static Fit on Subjective Scores

    Article • June 2021, ACM (Association for Computing Machinery)

    Luigi Monica , Prof Darwin G Caldwell

  17. A case study on occupational back-support exoskeletons versatility in lifting and carrying

    Article • June 2021, ACM (Association for Computing Machinery)

    Luigi Monica , Prof Darwin G Caldwell

  18. Quasi-Passive Resistive Exosuit for Space Activities: Proof of Concept

    Article • Applied Sciences, April 2021, MDPI AG

    Prof Darwin G Caldwell

  19. Design of Non-Circular Pulleys for Torque Generation: A Convex Optimisation Approach

    Article • IEEE Robotics and Automation Letters, April 2021, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  20. Equivalent Weight: Connecting Exoskeleton Effectiveness with Ergonomic Risk during Manual Material Handling

    Article • International Journal of Environmental Research and Public Health, March 2021, MDPI AG

    Prof Darwin G Caldwell

  21. Exoskeleton Online Learning and Estimation of Human Walking Intention Based on Dynamical Movement Primitives

    Article • IEEE Transactions on Cognitive and Developmental Systems, March 2021, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  22. Toward Orientation Learning and Adaptation in Cartesian Space

    Article • IEEE Transactions on Robotics, February 2021, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  23. Bond Graph Modeling and Kalman Filter Observer Design for an Industrial Back-Support Exoskeleton

    Article • Designs, December 2020, MDPI AG

    Prof Darwin G Caldwell

  24. Operating From a Distance: Robotic Vocal Cord 5G Telesurgery on a Cadaver

    Article • Annals of Internal Medicine, December 2020, American College of Physicians

    Prof Darwin G Caldwell

  25. Motion Planning for Quadrupedal Locomotion: Coupled Planning, Terrain Mapping, and Whole-Body Control

    Article • IEEE Transactions on Robotics, December 2020, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  26. 5G Robotic Telesurgery: Remote Transoral Laser Microsurgeries on a Cadaver

    Article • IEEE Transactions on Medical Robotics and Bionics, November 2020, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  27. Actuation Selection for Assistive Exoskeletons: Matching Capabilities to Task Requirements

    Article • IEEE Transactions on Neural Systems and Rehabilitation Engineering, September 2020, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  28. Feasible Region: An Actuation-Aware Extension of the Support Region

    Article • IEEE Transactions on Robotics, August 2020, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  29. Optimal Selection of Motors and Transmissions in Back-Support Exoskeleton Applications

    Article • IEEE Transactions on Medical Robotics and Bionics, August 2020, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  30. SmartProbe: a bioimpedance sensing system for head and neck cancer tissue detection

    Article • Physiological Measurement, June 2020, Institute of Physics Publishing

    Prof Darwin G Caldwell

  31. A Linearly Constrained Nonparametric Framework for Imitation Learning

    Article • May 2020, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  32. Microscale Precision Control of a Computer-Assisted Transoral Laser Microsurgery System

    Article • IEEE/ASME Transactions on Mechatronics, April 2020, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  33. Back-Support Exoskeletons for Occupational Use: An Overview of Technological Advances and Trends

    Article • IISE Transactions on Occupational Ergonomics and Human Factors, August 2019, Taylor & Francis

    Luigi Monica , Prof Darwin G Caldwell

  34. A Hand-Held Robot for Precise and Safe PIVC

    Article • IEEE Robotics and Automation Letters, April 2019, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  35. Fast and Continuous Foothold Adaptation for Dynamic Locomotion Through CNNs

    Article • IEEE Robotics and Automation Letters, April 2019, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  36. Adaptive-Robust Control of a Class of EL Systems With Parametric Variations Using Artificially Delayed Input and Position Feedback

    Article • IEEE Transactions on Control Systems Technology, March 2019, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  37. Dexterous Grasping by Manipulability Selection for Mobile Manipulator With Visual Guidance

    Article • IEEE Transactions on Industrial Informatics, February 2019, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  38. Learning Task Priorities from Demonstrations

    Article • IEEE Transactions on Robotics, February 2019, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  39. Application of Wrench-Based Feasibility Analysis to the Online Trajectory Optimization of Legged Robots

    Article • IEEE Robotics and Automation Letters, October 2018, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  40. Geometry-aware Tracking of Manipulability Ellipsoids

    Article • June 2018, Robotics: Science and Systems Foundation

    Prof Darwin G Caldwell

  41. Flexible Automation Driven by Demonstration: Leveraging Strategies that Simplify Robotics

    Article • IEEE Robotics & Automation Magazine, June 2018, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  42. Haptic Feedback for Control and Active Constraints in Contactless Laser Surgery: Concept, Implementation, and Evaluation

    Article • IEEE Transactions on Haptics, April 2018, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  43. A Parallel-Elastic Actuator for a Torque-Controlled Back-Support Exoskeleton

    Article • IEEE Robotics and Automation Letters, January 2018, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  44. An Approach for Imitation Learning on Riemannian Manifolds

    Article • IEEE Robotics and Automation Letters, July 2017, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  45. A Method for Derivation of Robot Task-Frame Control Authority from Repeated Sensory Observations

    Article • IEEE Robotics and Automation Letters, April 2017, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  46. Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots

    Article • IEEE Robotics and Automation Letters, April 2017, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  47. Variable Stiffness Actuators: Review on Design and Components

    Article • IEEE/ASME Transactions on Mechatronics, October 2016, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  48. A venipuncture detection system for robot-assisted intravenous catheterization

    Article • June 2016, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  49. Exoshoe: A sensory system to measure foot pressure in industrial exoskeleton

    Article • June 2016, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  50. Learning Physical Collaborative Robot Behaviors From Human Demonstrations

    Article • IEEE Transactions on Robotics, June 2016, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  51. Mechanical design and analysis of light weight hip joint Parallel Elastic Actuator for industrial exoskeleton

    Article • June 2016, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  52. High-slope terrain locomotion for torque-controlled quadruped robots

    Article • Autonomous Robots, May 2016, Springer Science + Business Media

    Prof Darwin G Caldwell

  53. Dynamic and Reactive Walking for Humanoid Robots Based on Foot Placement Control

    Article • International Journal of Humanoid Robotics, May 2016, World Scientific Pub Co Pte Lt

    Prof Darwin G Caldwell

  54. Design of a variable compliant humanoid foot with a new toe mechanism

    Article • May 2016, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  55. Hierarchical planning of dynamic movements without scheduled contact sequences

    Article • May 2016, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  56. Robot impedance control and passivity analysis with inner torque and velocity feedback loops

    Article • Control Theory and Technology, May 2016, Springer Science + Business Media

    Prof Darwin G Caldwell

  57. Robust and adaptive whole-body controller for humanoids with multiple tasks under uncertain disturbances

    Article • May 2016, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  58. Synergy-based interface for bilateral tele-manipulations of a master-slave system with large asymmetries

    Article • May 2016, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  59. Towards a multi-legged mobile manipulator

    Article • May 2016, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  60. Variable duration movement encoding with minimal intervention control

    Article • May 2016, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  61. WALK-MAN humanoid lower body design optimization for enhanced physical performance

    Article • May 2016, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  62. Embodiment design of soft continuum robots

    Article • Advances in Mechanical Engineering, April 2016, SAGE Publications

    Prof Darwin G Caldwell

  63. A design method of a robust controller for hydraulic actuation with disturbance observers

    Article • April 2016, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  64. Development and Control of a Compliant Asymmetric Antagonistic Actuator for Energy Efficient Mobility

    Article • IEEE/ASME Transactions on Mechatronics, April 2016, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  65. Dynamics and Control of an Anthropomorphic Compliant Arm Equipped With Friction Clutches

    Article • IEEE/ASME Transactions on Mechatronics, April 2016, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  66. The PANDORA project: A success story in AUV autonomy

    Article • April 2016, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  67. Task-Space Modular Dynamics for Dual-Arms Expressed through a Relative Jacobian

    Article • Journal of Intelligent & Robotic Systems, March 2016, Springer Science + Business Media

    Prof Darwin G Caldwell

  68. Learning autonomous behaviours for the body of a flexible surgical robot

    Article • Autonomous Robots, January 2016, Springer Science + Business Media

    Prof Darwin G Caldwell

  69. Fingertip Recovery Time Depending on Viscoelasticity

    Article • January 2016, Springer Science + Business Media

    Prof Darwin G Caldwell

  70. A Novel Non-invasive Electrical Impedance Skin Scanner for Early Diagnosis Medical Decision Support in Clinical Dermatology (DermaSense)

    Article • January 2016, Springer Science + Business Media

    Prof Darwin G Caldwell

  71. Proxy-based position control of manipulators with passive compliant actuators: Stability analysis and experiments

    Article • Robotics and Autonomous Systems, January 2016, Elsevier

    Prof Darwin G Caldwell

  72. A novel bio-inspired modular gripper for in-hand manipulation

    Article • December 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  73. A wearable device for reducing spinal loads during lifting tasks: Biomechanics and design concepts

    Article • December 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  74. Enhancing the robustness of the EPSAC predictive control using a Singular Value Decomposition approach

    Article • Robotics and Autonomous Systems, December 2015, Elsevier

    Prof Darwin G Caldwell

  75. Model-Based Hydraulic Impedance Control for Dynamic Robots

    Article • IEEE Transactions on Robotics, December 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  76. Proxy-Based Sliding Mode Control of Compliant Joint Manipulators

    Article • November 2015, Springer Science + Business Media

    Prof Darwin G Caldwell

  77. Origami Carton Folding Analysis Using Flexible Panels

    Article • November 2015, Springer Science + Business Media

    Prof Darwin G Caldwell

  78. Active camera stabilization to enhance the vision of agile legged robots

    Article • Robotica, November 2015, Cambridge University Press

    Mr Francesco Rovida, Prof Darwin G Caldwell

  79. Stabilization of bipedal walking based on compliance control

    Article • Autonomous Robots, November 2015, Springer Science + Business Media

    Prof Darwin G Caldwell

  80. A modular compliant actuator for emerging high performance and fall-resilient humanoids

    Article • November 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  81. Efficient self-collision avoidance based on focus of interest for humanoid robots

    Article • November 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  82. Online impedance parameter tuning for compliant biped balancing

    Article • November 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  83. Optically-regulated impedance-based balancing for humanoid robots

    Article • November 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  84. Tele-impedance based assistive control for a compliant knee exoskeleton

    Article • Robotics and Autonomous Systems, November 2015, Elsevier

    Prof Darwin G Caldwell

  85. Compliance control for stabilizing the humanoid on the changing slope based on terrain inclination estimation

    Article • Autonomous Robots, October 2015, Springer Science + Business Media

    Prof Darwin G Caldwell

  86. Brain-Controlled AR Feedback Design for User's Training in Surgical HRI

    Article • October 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  87. Dynamics for variable length multisection continuum arms

    Article • The International Journal of Robotics Research, September 2015, SAGE Publications

    Dr Isuru S Godage, Prof Darwin G Caldwell

  88. A new foot sole design for humanoids robots based on viscous air damping mechanism

    Article • September 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  89. Active control of under-actuated foot tilting for humanoid push recovery

    Article • September 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  90. Exploiting the redundancy for humanoid robots to dynamically step over a large obstacle

    Article • September 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  91. From one-legged hopping to bipedal running and walking: A unified foot placement control based on regression analysis

    Article • September 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  92. Kinematic-free position control of a 2-DOF planar robot arm

    Article • September 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  93. Learning bimanual end-effector poses from demonstrations using task-parameterized dynamical systems

    Article • September 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  94. Learning optimal controllers in human-robot cooperative transportation tasks with position and force constraints

    Article • September 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  95. Online regeneration of bipedal walking gait pattern optimizing footstep placement and timing

    Article • September 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  96. Reactive trotting with foot placement corrections through visual pattern classification

    Article • September 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  97. Real-time depth and inertial fusion for local SLAM on dynamic legged robots

    Article • September 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  98. Dynamic Modelling and Analysis of an Articulated Robotic Leg

    Article • August 2015, ASME International

    Prof Darwin G Caldwell

  99. Modelling needle forces during insertion into soft tissue

    Article • August 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  100. On the use of positive feedback for improved torque control

    Article • Control Theory and Technology, August 2015, Springer Science + Business Media

    Prof Darwin G Caldwell

  101. Additive manufacturing for agile legged robots with hydraulic actuation

    Article • July 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  102. Modular relative Jacobian for dual-arms and the wrench transformation matrix

    Article • July 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  103. Four-fingered lightweight exoskeleton robotic device accommodating different hand sizes

    Article • Electronics Letters, June 2015, the Institution of Engineering and Technology (the IET)

    Prof Darwin G Caldwell

  104. Characterization of nonlinear finger pad mechanics for tactile rendering

    Article • June 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  105. Energy efficient actuators with adjustable stiffness: a review on AwAS, AwAS-II and CompACT VSA changing stiffness based on lever mechanism

    Article • Industrial Robot the international journal of robotics research and application, May 2015, Emerald

    Prof Darwin G Caldwell

  106. Towards versatile legged robots through active impedance control

    Article • The International Journal of Robotics Research, May 2015, SAGE Publications

    Claudio Semini, Prof Darwin G Caldwell

  107. Modal kinematics for multisection continuum arms

    Article • Bioinspiration & Biomimetics, May 2015, Institute of Physics Publishing

    Prof Darwin G Caldwell

  108. Damping control of variable damping compliant actuators

    Article • May 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  109. Development of the lightweight hydraulic quadruped robot — MiniHyQ

    Article • May 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  110. Encoderless position control of a two-link robot manipulator

    Article • May 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  111. Fall Prediction of legged robots based on energy state and its implication of balance augmentation: A study on the humanoid

    Article • May 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  112. Feed forward incision control for laser microsurgery of soft tissue

    Article • May 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  113. Kinematic analysis and design considerations for optimal base frame arrangement of humanoid shoulders

    Article • May 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  114. Learning symbolic representations of actions from human demonstrations

    Article • May 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  115. New motorized micromanipulator for robot-assisted laser phonomicrosurgery

    Article • May 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  116. On-line and on-board planning and perception for quadrupedal locomotion

    Article • May 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  117. OpenSoT: A whole-body control library for the compliant humanoid robot COMAN

    Article • May 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  118. Planning and execution of dynamic whole-body locomotion for a hydraulic quadruped on challenging terrain

    Article • May 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  119. Underwater robot-object contact perception using machine learning on force/torque sensor feedback

    Article • May 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  120. Online estimation of laser incision depth for transoral microsurgery: approach and preliminary evaluation

    Article • International Journal of Medical Robotics and Computer Assisted Surgery, April 2015, Wiley

    Prof Darwin G Caldwell

  121. Variable stiffness actuators: The user’s point of view

    Article • The International Journal of Robotics Research, March 2015, SAGE Publications

    Prof Darwin G Caldwell

  122. Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on RoboCat-1 and HyQ

    Article • Autonomous Robots, February 2015, Springer Science + Business Media

    Prof Darwin G Caldwell

  123. Bio-inspired knee joint mechanism for a hydraulic quadruped robot

    Article • February 2015, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  124. Experimental Study on Linear State Feedback Control of Humanoid Robots with Flexible Joints

    Article • IFAC-PapersOnLine, January 2015, Elsevier

    Prof Darwin G Caldwell

  125. Development and control of a series elastic actuator equipped with a semi active friction damper for human friendly robots

    Article • Robotics and Autonomous Systems, December 2014, Elsevier

    Prof Darwin G Caldwell

  126. Development of a 7DOF soft manipulator arm for the compliant humanoid robot COMAN

    Article • December 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  127. How leg/foot compliance and posture affects impact forces during landing

    Article • December 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  128. Multi-objective reinforcement learning for AUV thruster failure recovery

    Article • December 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  129. Optimal human-inspired ankle stiffness regulation for humanoid balancing control

    Article • November 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  130. A manipulation framework for compliant humanoid COMAN: Application to a valve turning task

    Article • November 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  131. Can active impedance protect robots from landing impact?

    Article • November 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  132. Comparison study of two inverted pendulum models for balance recovery

    Article • November 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  133. Compliant antagonistic joint tuning for gravitational load cancellation and improved efficient mobility

    Article • November 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  134. Learning reactive robot behavior for autonomous valve turning

    Article • November 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  135. Tele-manipulation with a humanoid robot under autonomous joint impedance regulation and vibrotactile balancing feedback

    Article • November 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  136. Upper-body impedance control with variable stiffness for a door opening task

    Article • November 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  137. Learning Temperature Dynamics on Agar-Based Phantom Tissue Surface During Single Point CO $$_2$$ 2 Laser Exposure

    Article • Neural Processing Letters, October 2014, Springer Science + Business Media

    Prof Darwin G Caldwell

  138. Bipedal Hopping Pattern Generation for Passively Compliant Humanoids: Exploiting the Resonance

    Article • IEEE Transactions on Industrial Electronics, October 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  139. Decentralized Feedback Design for a Compliant Robot Arm

    Article • October 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  140. Learning adaptive movements from demonstration and self-guided exploration

    Article • October 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  141. A study on data-driven in-hand twisting process using a novel dexterous robotic gripper for assembly automation

    Article • September 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell, Rafael Ferragut

  142. Haptic exploration of unknown surfaces with discontinuities

    Article • September 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  143. Human–robot skills transfer interfaces for a flexible surgical robot

    Article • Computer Methods and Programs in Biomedicine, September 2014, Elsevier

    Prof Darwin G Caldwell

  144. Lyapunov Stability Margins for humanoid robot balancing

    Article • September 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  145. Terminal sliding-mode based force tracking control of piezoelectric actuators for variable physical damping system

    Article • September 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  146. An automatic assembly parts detection and grasping system for industrial manufacturing

    Article • August 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  147. Development and validation of a tactile sensitivity scale for peripheral neuropathy screening

    Article • August 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  148. Learning force and position constraints in human-robot cooperative transportation

    Article • August 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  149. Repetitive Drag & Drop of AR Objects: A Pilot Study

    Article • July 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Dr Giacinto Barresi, Prof Darwin G Caldwell

  150. How Tactor Size and Density of Normal Indentation Tactile Displays Affects Grating Discrimination Tasks

    Article • IEEE Transactions on Haptics, July 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  151. A vision-based system for fast and accurate laser scanning in robot-assisted phonomicrosurgery

    Article • International Journal of Computer Assisted Radiology and Surgery, June 2014, Springer Science + Business Media

    Prof Darwin G Caldwell

  152. Control design of shape memory alloy based multi-arm continuum robot inspired by octopus

    Article • June 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Dr Matteo Cianchetti, Prof Darwin G Caldwell

  153. A passivity based compliance stabilizer for humanoid robots

    Article • May 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  154. A task-parameterized probabilistic model with minimal intervention control

    Article • May 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  155. Development of a hybrid actuator with controllable mechanical damping

    Article • May 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  156. Dynamically transitioning between surfaces of varying inclinations to achieve uneven-terrain walking

    Article • May 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  157. Enhanced computer-assisted laser microsurgeries with a “virtual microscope” based surgical system

    Article • May 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  158. In-hand precise twisting and positioning by a novel dexterous robotic gripper for industrial high-speed assembly

    Article • May 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell, Rafael Ferragut

  159. Learning from demonstrations with partially observable task parameters

    Article • May 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  160. Model-free force tracking control of piezoelectric actuators: Application to variable damping actuator

    Article • May 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  161. Null space redundancy learning for a flexible surgical robot

    Article • May 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  162. Online discovery of AUV control policies to overcome thruster failures

    Article • May 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  163. Path planning with force-based foothold adaptation and virtual model control for torque controlled quadruped robots

    Article • May 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  164. Physical interaction detection and control of compliant manipulators equipped with friction clutches

    Article • May 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  165. Power efficient balancing control for humanoids based on approximate optimal ankle compliance regulation

    Article • May 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  166. Real-time damping estimation for variable impedance actuators

    Article • May 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  167. Robot-object contact perception using symbolic temporal pattern learning

    Article • May 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  168. Covariance analysis as a measure of policy robustness

    Article • April 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  169. Human hand compatible underactuated exoskeleton robotic system

    Article • Electronics Letters, March 2014, the Institution of Engineering and Technology (the IET)

    Prof Darwin G Caldwell

  170. Quadruped robot trotting over irregular terrain assisted by stereo-vision

    Article • Intelligent Service Robotics, March 2014, Springer Science + Business Media

    Prof Darwin G Caldwell

  171. A New Actuator With Adjustable Stiffness Based on a Variable Ratio Lever Mechanism

    Article • IEEE/ASME Transactions on Mechatronics, February 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  172. A novel exoskeleton robotic system for hand rehabilitation – Conceptualization to prototyping

    Article • Journal of Applied Biomedicine, January 2014, Elsevier

    Prof Darwin G Caldwell

  173. Haptics: Neuroscience, Devices, Modeling, and Applications

    Article • January 2014, Springer Science + Business Media

    Alexander Toet, Prof Darwin G Caldwell

  174. A Fully Automated System for Adherent Cells Microinjection

    Article • IEEE Journal of Biomedical and Health Informatics, January 2014, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  175. HANDS.DVI: A DeVice-Independent Programming and Control Framework for Robotic HANDS

    Article • January 2014, Springer Science + Business Media

    Prof Darwin G Caldwell

  176. HANDS.DVI: A Device-Independent Programming and Control Framework for Robotic Hands

    Article • January 2014, Springer Science + Business Media

    Prof Darwin G Caldwell

  177. Mechanism and Structures: Humanoids and Quadrupeds

    Article • January 2014, Springer Science + Business Media

    Prof Darwin G Caldwell

  178. Modelling Legged Robot Multi-Body Dynamics Using Hierarchical Virtual Prototype Design

    Article • January 2014, Springer Science + Business Media

    Prof Darwin G Caldwell

  179. A pneumatically-actuated transferring robot for industrial forge manufacturing using visual inspection technology

    Article • December 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  180. Control Strategies for Patient-Assisted Training Using the Ankle Rehabilitation Robot (ARBOT)

    Article • IEEE/ASME Transactions on Mechatronics, December 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  181. Human-inspired balancing assistance: Application to a knee exoskeleton

    Article • December 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  182. Impedance control with inner PI torque loop: Disturbance attenuation and impedance emulation

    Article • December 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  183. Theoretical and kinematic solution of high reconfigurable grasping for industrial manufacturing

    Article • December 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  184. Variable impedance actuators: A review

    Article • Robotics and Autonomous Systems, December 2013, Elsevier

    Prof Darwin G Caldwell

  185. Magnetorheologically Damped Compliant Foot for Legged Robotic Application

    Article • Journal of Mechanical Design, November 2013, ASME International

    Prof Darwin G Caldwell

  186. Comparative usability and performance evaluation of surgeon interfaces in laser phonomicrosurgery

    Article • November 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Dr Giacinto Barresi, Prof Darwin G Caldwell

  187. A compliant humanoid walking strategy based on the switching of state feedback gravity compensation controllers

    Article • November 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  188. A pragmatic bio-inspired approach to the design of octopus-inspired arms

    Article • November 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  189. An asymmetric compliant antagonistic joint design for high performance mobility

    Article • November 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  190. Compliant attitude control and stepping strategy for balance recovery with the humanoid COMAN

    Article • November 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  191. Designing a High Performance Humanoid Robot Based on Dynamic Simulation

    Article • November 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  192. Dynamic trot-walking with the hydraulic quadruped robot — HyQ: Analytical trajectory generation and active compliance control

    Article • November 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  193. Improving the energy efficiency of autonomous underwater vehicles by learning to model disturbances

    Article • November 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  194. Interactive robot learning of visuospatial skills

    Article • November 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  195. Link position control of a compliant actuator with unknown transmission friction torque

    Article • November 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  196. On improving the extrapolation capability of task-parameterized movement models

    Article • November 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  197. On-line identification of autonomous underwater vehicles through global derivative-free optimization

    Article • November 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  198. Onboard perception-based trotting and crawling with the Hydraulic Quadruped Robot (HyQ)

    Article • November 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  199. Optimal ankle compliance regulation for humanoid balancing control

    Article • November 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  200. Skills transfer across dissimilar robots by learning context-dependent rewards

    Article • November 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  201. Stability and performance of the compliance controller of the quadruped robot HyQ

    Article • November 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  202. Stabilizing humanoids on slopes using terrain inclination estimation

    Article • November 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  203. The use of a hydraulic DC-DC converter in the actuation of a robotic leg

    Article • November 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  204. Visuospatial skill learning for object reconfiguration tasks

    Article • November 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  205. An attractor-based Whole-Body Motion Control (WBMC) system for humanoid robots

    Article • October 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  206. Robust and model-free link position tracking control for humanoid COMAN with multiple compliant joints

    Article • October 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  207. Upper limb compliant strategy exploiting external physical constraints for humanoid fall avoidance

    Article • October 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  208. Hybrid gait pattern generator capable of rapid and dynamically consistent pattern regeneration

    Article • October 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  209. Dynamic Investigation Test-rig on hAptics (DITA)

    Article • Journal of Physics Conference Series, September 2013, Institute of Physics Publishing

    Prof Darwin G Caldwell

  210. Walking in the resonance with the COMAN robot with trajectories based on human kinematic motion primitives (kMPs)

    Article • Autonomous Robots, August 2013, Springer Science + Business Media

    Prof Darwin G Caldwell

  211. ACTUATOR SIZING FOR HIGHLY-DYNAMIC QUADRUPED ROBOTS BASED ON SQUAT JUMPS AND RUNNING TROTS

    Article • July 2013, World Scientific Pub Co Pte Lt

    Prof Darwin G Caldwell

  212. LOCAL REFLEX GENERATION FOR OBSTACLE NEGOTIATION IN QUADRUPEDAL LOCOMOTION

    Article • July 2013, World Scientific Pub Co Pte Lt

    Prof Darwin G Caldwell

  213. WALKING DESPITE THE PASSIVE COMPLIANCE: TECHNIQUES FOR USING CONVENTIONAL PATTERN GENERATORS TO CONTROL INSTRINSICALLY COMPLIANT HUMANOID ROBOTS

    Article • July 2013, World Scientific Pub Co Pte Lt

    Prof Darwin G Caldwell

  214. Design, modeling and control of a pneumatically actuated manipulator inspired by biological continuum structures

    Article • Bioinspiration & Biomimetics, July 2013, Institute of Physics Publishing

    Prof Darwin G Caldwell

  215. Distractive User Interface for Repetitive Motor Tasks: A Pilot Study

    Article • July 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Dr Giacinto Barresi, Prof Darwin G Caldwell

  216. A comparison of search-based planners for a legged robot

    Article • July 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  217. On the stiffness design of intrinsic compliant manipulators

    Article • July 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  218. GPU-based real-time synthetic aperture sonar processing on-board autonomous underwater vehicles

    Article • June 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  219. Gain Scheduling Control for a Class of Variable Stiffness Actuators Based on Lever Mechanisms

    Article • IEEE Transactions on Robotics, June 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  220. Kinematic model and inverse control for continuum manipulators

    Article • June 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  221. Imaging based metrics for performance assessment in laser phonomicrosurgery

    Article • May 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Dr Giacinto Barresi, Prof Darwin G Caldwell

  222. A reactive controller framework for quadrupedal locomotion on challenging terrain

    Article • May 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  223. Autonomous robotic valve turning: A hierarchical learning approach

    Article • May 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  224. COMpliant huMANoid COMAN: Optimal joint stiffness tuning for modal frequency control

    Article • May 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  225. Computing with a muscular-hydrostat system

    Article • May 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  226. Gravity compensation control of compliant joint systems with multiple drives

    Article • May 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  227. Octopus inspired walking robot: Design, control and experimental validation

    Article • May 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  228. Optimal control for maximizing velocity of the CompAct™ compliant actuator

    Article • May 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  229. Tele-Impedance based stiffness and motion augmentation for a knee exoskeleton device

    Article • May 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  230. Walking pattern generation for a humanoid robot with compliant joints

    Article • Autonomous Robots, April 2013, Springer Science + Business Media

    Prof Darwin G Caldwell

  231. Analysis and Development of a Semiactive Damper for Compliant Actuation Systems

    Article • IEEE/ASME Transactions on Mechatronics, April 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  232. Compliant skills acquisition and multi-optima policy search with EM-based reinforcement learning

    Article • Robotics and Autonomous Systems, April 2013, Elsevier

    Prof Darwin G Caldwell

  233. Vision enhanced reactive locomotion control for trotting on rough terrain

    Article • April 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  234. Model Validation of an Octopus Inspired Continuum Robotic Arm for Use in Underwater Environments

    Article • Journal of Mechanisms and Robotics, March 2013, ASME International

    Dr Matteo Cianchetti, Prof Darwin G Caldwell

  235. Horse-like walking, trotting, and galloping derived from kinematic Motion Primitives (kMPs) and their application to walk/trot transitions in a compliant quadruped robot

    Article • Biological Cybernetics, March 2013, Springer Science + Business Media

    Prof Darwin G Caldwell

  236. Improving Mouse-Based Computer Interaction in Users With Weak Upper Limb Motion Control Using a Haptic Assistive System

    Article • IEEE Transactions on Human-Machine Systems, March 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  237. A Novel Intrinsically Energy Efficient Actuator With Adjustable Stiffness (AwAS)

    Article • IEEE/ASME Transactions on Mechatronics, February 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  238. A push recovery strategy for a passively compliant humanoid robot using decentralized LQR controllers

    Article • February 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  239. A visual targeting system for the microinjection of unstained adherent cells

    Article • Computers in Biology and Medicine, February 2013, Elsevier

    Prof Darwin G Caldwell

  240. Development of a dynamic simulator for a compliant humanoid robot based on a symbolic multibody approach

    Article • February 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  241. Dynamic modeling and adaptable control of the CompAct™ arm

    Article • February 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  242. Quadrupedal trotting with active compliance

    Article • February 2013, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  243. Robotics and automation in the food industry

    Article • January 2013, Elsevier

    Prof Darwin G Caldwell

  244. A soft body as a reservoir: case studies in a dynamic model of octopus-inspired soft robotic arm

    Article • Frontiers in Computational Neuroscience, January 2013, Frontiers

    Prof Darwin G Caldwell

  245. Capillary Pressure Control System for Teleoperated and Automatic Biomanipulations

    Article • January 2013, Springer Science + Business Media

    Prof Darwin G Caldwell

  246. Local information transfer in soft robotic arm

    Article • December 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  247. Simulated performance assessment of different digital hydraulic configurations for use on the HyQ leg

    Article • December 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  248. Smart devices in robot-assisted laser microsurgery: Towards ubiquitous tele-cooperation

    Article • December 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  249. YAW MOMENT COMPENSATION FOR BIPEDAL ROBOTS VIA INTRINSIC ANGULAR MOMENTUM CONSTRAINT

    Article • International Journal of Humanoid Robotics, December 2012, World Scientific Pub Co Pte Lt

    Prof Darwin G Caldwell

  250. A passivity based admittance control for stabilizing the compliant humanoid COMAN

    Article • November 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  251. Haptic, Audio, and Visual: Multimodal Distribution for Interactive Games

    Article • IEEE Transactions on Instrumentation and Measurement, November 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  252. Multi-optima exploration with adaptive Gaussian mixture model

    Article • November 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  253. Statistical dynamical systems for skills acquisition in humanoids

    Article • November 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  254. Locomotion with continuum limbs

    Article • October 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  255. Bio-inspired crawling locomotion of a multi-arm octopus-like continuum system

    Article • October 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  256. Code generation of algebraic quantities for robot controllers

    Article • October 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  257. Exploration of virtual surface features with a high performance tactile and force feedback interface

    Article • October 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  258. Integration of a tactile display in teleoperation of a soft robotic finger using model based tactile feedback

    Article • October 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  259. Internal model control for improving the gait tracking of a compliant humanoid robot

    Article • October 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  260. On the role of load motion compensation in high-performance force control

    Article • October 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  261. The anatomy of a fall: Automated real-time analysis of raw force sensor data from bipedal walking robots and humans

    Article • October 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  262. The role of physical damping in compliant actuation systems

    Article • October 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  263. Variable impedance actuators: Moving the robots of tomorrow

    Article • October 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  264. Simultaneous discovery of multiple alternative optimal policies by reinforcement learning

    Article • September 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  265. Dynamic modeling and control of an octopus inspired multiple continuum arm robot

    Article • Computers & Mathematics with Applications, September 2012, Elsevier

    Prof Darwin G Caldwell

  266. Point clouds indexing in real time motion capture

    Article • September 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  267. Global Stability Study of a Compliant Double-Inverted Pendulum Based on Hamiltonian Modeling

    Article • August 2012, ASME International

    Prof Darwin G Caldwell

  268. New software tools for enhanced precision in robot-assisted laser phonomicrosurgery

    Article • August 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  269. Path planning for multisection continuum arms

    Article • August 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  270. Rotate-Vector Optimization and its Application to PID Controller Tuning

    Article • August 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  271. Safe teleoperation based on flexible intraoperative planning for robot-assisted laser microsurgery

    Article • August 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  272. CompAct Arm: a Compliant Manipulator with Intrinsic Variable Physical Damping

    Article • July 2012, Robotics: Science and Systems Foundation

    Prof Darwin G Caldwell

  273. Fast and Adaptive Hopping Height Control of Single-Legged Robot

    Article • July 2012, ASME International

    Prof Darwin G Caldwell

  274. Performance Assessment of Digital Hydraulics in a Quadruped Robot Leg

    Article • July 2012, ASME International

    Prof Darwin G Caldwell

  275. A novel curve fitting based discrete velocity estimator for high performance motion control

    Article • July 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  276. Comparison of various active impedance control approaches, modeling, implementation, passivity, stability and trade-offs

    Article • July 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  277. A Tangible Interface for Transferring Skills

    Article • International Journal of Social Robotics, June 2012, Springer Science + Business Media

    PhD Davide De Tommaso, Prof Darwin G Caldwell

  278. A compact model for the compliant humanoid robot COMAN

    Article • June 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  279. Challenges for the policy representation when applying reinforcement learning in robotics

    Article • June 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  280. Design, modeling and control of a series elastic actuator for an assistive knee exoskeleton

    Article • June 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  281. Timing-based control via echo state network for soft robotic arm

    Article • June 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  282. The application of embodiment theory to the design and control of an octopus-like robotic arm

    Article • May 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Dr Matteo Cianchetti, Prof Darwin G Caldwell

  283. Dynamic continuum arm model for use with underwater robotic manipulators inspired by octopus vulgaris

    Article • May 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Dr Matteo Cianchetti, Prof Darwin G Caldwell

  284. A compact tactile display suitable for integration in VR and teleoperation

    Article • May 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  285. A position and stiffness control strategy for variable stiffness actuators

    Article • May 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  286. Control architecture for robots with continuum arms inspired by octopus vulgaris neurophysiology

    Article • May 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  287. Dynamic torque control of a hydraulic quadruped robot

    Article • May 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  288. Efficient human-like walking for the compliant huMANoid COMAN based on linematic Motion Primitives (kMPs)

    Article • May 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  289. Hopping at the resonance frequency: A trajectory generation technique for bipedal robots with elastic joints

    Article • May 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  290. How design can affect the energy required to regulate the stiffness in variable stiffness actuators

    Article • May 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  291. Pneumatic muscle actuated continuum arms: Modelling and experimental assessment

    Article • May 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  292. Stabilization for the compliant humanoid robot COMAN exploiting intrinsic and controlled compliance

    Article • May 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  293. Walking trajectory generation for humanoid robots with compliant joints: Experimentation with COMAN humanoid

    Article • May 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  294. Torque-control based compliant actuation of a quadruped robot

    Article • March 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  295. Variable physical damping actuators (VPDAs): Facilitating the control and improving the performance of compliant actuation systems

    Article • March 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  296. Music expression with a robot manipulator used as a bidirectional tangible interface

    Article • EURASIP Journal on Audio Speech and Music Processing, January 2012, Springer Science + Business Media

    Prof Darwin G Caldwell

  297. A High Performance Tactile Feedback Display and Its Integration in Teleoperation

    Article • IEEE Transactions on Haptics, January 2012, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  298. Bio-Inspired Dynamic Model for a Reconfigurable Multiple Continuum Arm Robot

    Article • January 2012, Springer Science + Business Media

    Prof Darwin G Caldwell

  299. Laser application on haptics: Tactile stiffness measurement

    Article • January 2012, American Institute of Physics

    Prof Darwin G Caldwell

  300. On the kinematic Motion Primitives (kMPs) – theory and application

    Article • Frontiers in Neurorobotics, January 2012, Frontiers

    Prof Darwin G Caldwell

  301. Tactile Sensibility through Tactile Display: Effect of the Array Density and Clinical Use

    Article • January 2012, Springer Science + Business Media

    Prof Darwin G Caldwell

  302. Using Compliant Robots as Projective Interfaces in Dynamic Environments

    Article • January 2012, Springer Science + Business Media

    Prof Darwin G Caldwell

  303. Dynamics for biomimetic continuum arms: A modal approach

    Article • December 2011, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  304. A human-like walking for the COmpliant huMANoid COMAN based on CoM trajectory reconstruction from kinematic Motion Primitives

    Article • October 2011, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  305. Biologically inspired damage tolerance in braided pneumatic muscle actuators

    Article • Journal of Intelligent Material Systems and Structures, September 2011, SAGE Publications

    Prof Darwin G Caldwell

  306. A new variable stiffness actuator (CompAct-VSA): Design and modelling

    Article • September 2011, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  307. A nonlinear series elastic actuator for highly dynamic motions

    Article • September 2011, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  308. A virtual scalpel system for computer-assisted laser microsurgery

    Article • September 2011, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  309. Bilateral physical interaction with a robot manipulator through a weighted combination of flow fields

    Article • September 2011, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  310. Bipedal walking energy minimization by reinforcement learning with evolving policy parameterization

    Article • September 2011, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  311. Dynamic model of a hyper-redundant, octopus-like manipulator for underwater applications

    Article • September 2011, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  312. Encoding the time and space constraints of a task in explicit-duration Hidden Markov Model

    Article • September 2011, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  313. Novel modal approach for kinematics of multisection continuum arms

    Article • September 2011, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  314. A multi-DOF robotic exoskeleton interface for hand motion assistance

    Article • August 2011, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  315. Comparative evaluation of user interfaces for robot-assisted laser phonomicrosurgery

    Article • August 2011, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  316. Design of HyQ – a hydraulically and electrically actuated quadruped robot

    Article • Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering, August 2011, SAGE Publications

    Prof Darwin G Caldwell

  317. Next-generation micromanipulator for computer-assisted laser phonomicrosurgery

    Article • August 2011, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  318. Integrating Haptics with Augmented Reality in a Femoral Palpation and Needle Insertion Training Simulation

    Article • IEEE Transactions on Haptics, July 2011, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  319. Orientation discrimination of patterned surfaces through an actuated and non-actuated tactile display

    Article • June 2011, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  320. A 3D dynamic model for continuum robots inspired by an octopus arm

    Article • May 2011, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  321. A compact compliant actuator (CompAct™) with variable physical damping

    Article • May 2011, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  322. AwAS-II: A new Actuator with Adjustable Stiffness based on the novel principle of adaptable pivot point and variable lever ratio

    Article • May 2011, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  323. Constraint-Based Limb Synthesis and Mobility-Change-Aimed Mechanism Construction

    Article • Journal of Mechanical Design, May 2011, ASME International

    Prof Darwin G Caldwell

  324. Exploiting natural dynamics for energy minimization using an Actuator with Adjustable Stiffness (AwAS)

    Article • May 2011, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  325. Shape function-based kinematics and dynamics for variable length continuum robotic arms

    Article • May 2011, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  326. The design of the lower body of the compliant humanoid robot “cCub”

    Article • May 2011, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  327. Upper-body kinesthetic teaching of a free-standing humanoid robot

    Article • May 2011, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  328. MACCEPA 2.0: compliant actuator used for energy efficient hopping robot Chobino1D

    Article • Autonomous Robots, April 2011, Springer Science + Business Media

    Prof Darwin G Caldwell

  329. Compliant joint modification and real-time dynamic walking implementation on bipedal robot cCub

    Article • April 2011, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  330. Feeling through Tactile Displays: A Study on the Effect of the Array Density and Size on the Discrimination of Tactile Patterns

    Article • IEEE Transactions on Haptics, April 2011, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  331. A novel framework for automated targeting of unstained living cells in bright field microscopy

    Article • March 2011, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  332. Effectiveness of a Tactile Display for Providing Orientation Information of 3d-patterned Surfaces

    Article • January 2011, Springer Science + Business Media

    Prof Darwin G Caldwell

  333. Imitation Learning of Positional and Force Skills Demonstrated via Kinesthetic Teaching and Haptic Input

    Article • Advanced Robotics, January 2011, Taylor & Francis

    Prof Darwin G Caldwell

  334. Intercepting Virtual Ball in Immersive Virtual Environment

    Article • January 2011, Springer Science + Business Media

    Prof Darwin G Caldwell

  335. Irradiating Heat in Virtual Environments: Algorithm and Implementation

    Article • January 2011, Springer Science + Business Media

    Prof Darwin G Caldwell

  336. Novel Concept for an Air-Pressure Driven Micro-Turbine for Power Generation

    Article • January 2011, ASME International

    Prof Darwin G Caldwell

  337. Stiffness Design for Compliant Manipulators Based on Dynamics Analysis of the Impact Configuration

    Article • January 2011, ASME International

    Prof Darwin G Caldwell

  338. Touching Sharp Virtual Objects Produces a Haptic Illusion

    Article • January 2011, Springer Science + Business Media

    Prof Darwin G Caldwell

  339. A human hand compatible optimised exoskeleton system

    Article • December 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  340. Fast bipedal walk using large strides by modulating hip posture and toe-heel motion

    Article • December 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  341. Trajectory generation of straightened knee walking for humanoid robot iCub

    Article • December 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  342. A Bernoulli principle gripper for handling of planar and 3D (food) products

    Article • Industrial Robot the international journal of robotics research and application, October 2010, Emerald

    Prof Darwin G Caldwell

  343. Guidelines for the design of low‐cost robots for the food industry

    Article • Industrial Robot the international journal of robotics research and application, October 2010, Emerald

    Prof Darwin G Caldwell

  344. A 3-way valve-controlled spring assisted rotary actuator

    Article • October 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  345. A novel actuator with adjustable stiffness (AwAS)

    Article • October 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  346. An octopus anatomy-inspired robotic arm

    Article • October 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  347. Antagonistically actuated compliant joint: Torque and stiffness control

    Article • October 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  348. Design and experimental evaluation of the hydraulically actuated prototype leg of the HyQ robot

    Article • October 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  349. Distributed multimodal interaction driven framework: Conceptual model and game example

    Article • October 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  350. Learning-based control strategy for safe human-robot interaction exploiting task and robot redundancies

    Article • October 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  351. Power hydraulics - switched mode control of hydraulic actuation

    Article • October 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  352. Robot motor skill coordination with EM-based Reinforcement Learning

    Article • October 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  353. The design of an anthropomorphic dexterous humanoid foot

    Article • October 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  354. Water/air performance analysis of a fluidic muscle

    Article • October 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  355. A novel variable stiffness actuator: Minimizing the energy requirements for the stiffness regulation

    Article • August 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  356. A portable rehabilitation device for the Hand

    Article • August 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  357. Anisotropic Contour Completion for Cell Microinjection Targeting

    Article • August 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  358. Assessment of the assistive performance of an ankle exerciser using electromyographic signals

    Article • August 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  359. Design and control of a robotic system for assistive laser phonomicrosurgery

    Article • August 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  360. Diffusion tensor driven contour closing for cell microinjection targeting

    Article • August 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  361. Proportional mechanical ventilation through PWM driven on/off solenoid valve

    Article • August 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  362. Biomimetic design for bipedal/quadrupedal motion in a robotic primate

    Article • June 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  363. Experiments with a teleoperated system for improved bio-micromanipulations

    Article • June 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  364. Learning and Reproduction of Gestures by Imitation

    Article • IEEE Robotics & Automation Magazine, June 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  365. Modeling of a novel 3-way rotary type electro-hydraulic valve

    Article • June 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  366. The development and maintenance of a reliable interactive dexterous robot hand for museum exhibition

    Article • June 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  367. A variable physical damping actuator (VPDA) for compliant robotic joints

    Article • May 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  368. Control of a hydraulically-actuated quadruped robot leg

    Article • May 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  369. Control strategies for ankle rehabilitation using a high performance ankle exerciser

    Article • May 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  370. Evaluation of a probabilistic approach to learn and reproduce gestures by imitation

    Article • May 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  371. Automation for value added prepared vegetables – The Brussels sprout

    Article • Trends in Food Science & Technology, March 2010, Elsevier

    Prof Darwin G Caldwell

  372. Origami-based robotic paper-and-board packaging for food industry

    Article • Trends in Food Science & Technology, March 2010, Elsevier

    Prof Darwin G Caldwell

  373. Passive hand pose recognition in virtual reality

    Article • March 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  374. A Mixed-Reality Training System for Teleoperated Biomanipulations

    Article • January 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  375. A Vibration Study of a Hydraulically-Actuated Legged Machine

    Article • January 2010, ASME International

    Prof Darwin G Caldwell

  376. Constraint-Based Limb Synthesis and Mobility-Change-Aimed Mechanism Construction

    Article • January 2010, ASME International

    Prof Darwin G Caldwell

  377. Human Tactile Ability to Discriminate Variations in Small Ridge Patterns thorugh a Portable-Wearable Tactile Display

    Article • January 2010, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  378. Human-like walking with straightened knees, toe-off and heel-strike for the humanoid robot iCub

    Article • January 2010, the Institution of Engineering and Technology (the IET)

    Prof Darwin G Caldwell

  379. Modelling and Simulation of the Locomotion of Humanoid Robots

    Article • January 2010, the Institution of Engineering and Technology (the IET)

    Prof Darwin G Caldwell

  380. Psychophysical Evaluation of a Low Density and Portable Tactile Device Displaying Small-Scale Surface Features

    Article • January 2010, Springer Science + Business Media

    Prof Darwin G Caldwell

  381. Virtual Sequencing with a Tactile Feedback Device

    Article • January 2010, Springer Science + Business Media

    Prof Darwin G Caldwell

  382. Handling of multiple constraints and motion alternatives in a robot programming by demonstration framework

    Article • December 2009, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  383. Antagonistic and series elastic actuators: a comparative analysis on the energy consumption

    Article • October 2009, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  384. Leg mechanisms for hydraulically actuated robots

    Article • October 2009, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  385. Safe human robot interaction via energy regulation control

    Article • October 2009, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  386. The mechanical design of the new lower body for the child humanoid robot ‘iCub’

    Article • October 2009, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  387. Elliptical point to point trajectory planning using electronic cam motion profiles for high speed industrial pick and place robots

    Article • September 2009, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  388. A fast and precise micropipette positioning system based on continuous camera-robot recalibration and visual servoing

    Article • August 2009, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  389. Water vs. oil hydraulic actuation for a robot leg

    Article • August 2009, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  390. A High-performance Redundantly Actuated Parallel Mechanism for Ankle Rehabilitation

    Article • The International Journal of Robotics Research, May 2009, SAGE Publications

    Prof Darwin G Caldwell

  391. A high performance 2-dof over-actuated parallel mechanism for ankle rehabilitation

    Article • May 2009, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  392. MACCEPA 2.0: Adjustable compliant actuator with stiffening characteristic for energy efficient hopping

    Article • May 2009, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  393. Haptic Palpation for the Femoral Pulse in Virtual Interventional Radiology

    Article • February 2009, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  394. Interface Design for MicroBiomanipulation and Teleoperation

    Article • February 2009, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  395. Energy Efficient Fluid Power in Autonomous Legged Robotics

    Article • January 2009, ASME International

    Prof Darwin G Caldwell

  396. Autonomy and independence amongst patients with cognitive impairments

    Article • January 2009, the Institution of Engineering and Technology (the IET)

    Prof Darwin G Caldwell

  397. Inverse-kinematics-based control of a redundantly actuated platform for rehabilitation

    Article • Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering, December 2008, SAGE Publications

    Prof Darwin G Caldwell

  398. Geometry and Kinematic Analysis of a Redundantly Actuated Parallel Mechanism That Eliminates Singularities and Improves Dexterity

    Article • Journal of Mechanical Design, October 2008, ASME International

    Prof Darwin G Caldwell

  399. HyQ - Hydraulically actuated quadruped robot: Hopping leg prototype

    Article • October 2008, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  400. 2D motion coordination enhancement for ‘Ataxia’ impaired users using a haptic device

    Article • September 2008, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  401. Water hydraulics - A novel design of spool-type valves for enhanced dynamic performance

    Article • July 2008, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  402. An end effector based on the Bernoulli principle for handling sliced fruit and vegetables

    Article • Robotics and Computer-Integrated Manufacturing, April 2008, Elsevier

    Prof Darwin G Caldwell

  403. Wearable Upper Limb Robots

    Article • February 2008, Wiley

    Prof Darwin G Caldwell

  404. 'Soft' actuation for dextrous hands – a 23 DOF anthropomorphic hand powered by pneumatic muscle actuators

    Article • International Journal of Modelling Identification and Control, January 2008, Inderscience Publishers

    Prof Darwin G Caldwell

  405. The initial design and manufacturing process of a low cost hand for the robot iCub

    Article • January 2008, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  406. The Italian Institute of Technology - an Italian perspective on robotics research and funding

    Article • January 2008, the Institution of Engineering and Technology (the IET)

    Prof Darwin G Caldwell

  407. Lower body realization of the baby humanoid - ‘iCub’

    Article • October 2007, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  408. "SOFT" EXOSKELETONS FOR UPPER AND LOWER BODY REHABILITATION — DESIGN, CONTROL AND TESTING

    Article • International Journal of Humanoid Robotics, September 2007, World Scientific Pub Co Pte Lt

    Prof Darwin G Caldwell

  409. Task-Orientated Biofeedback System for the Rehabilitation of the Upper Limb

    Article • June 2007, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  410. Automated Handling, Assembly and Packaging of Highly Variable Compliant Food Products - Making a Sandwich

    Article • April 2007, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  411. Design of an Automated Handling System for Limp, Flexible Sheet Lasagna Pasta

    Article • April 2007, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  412. Robot prototyping in the design of food processing machinery

    Article • Industrial Robot the international journal of robotics research and application, March 2007, Emerald

    Prof Darwin G Caldwell

  413. iCub: the design and realization of an open humanoid platform for cognitive and neuroscience research

    Article • Advanced Robotics, January 2007, Taylor & Francis

    Prof Darwin G Caldwell

  414. Lower Body Design of the `iCub' a Human-baby like Crawling Robot

    Article • December 2006, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  415. pneumatic Muscle Actuators for Humanoid applications - Sensor and Valve Integration

    Article • December 2006, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  416. Free to Touch: A Portable Tactile Display For 3D Surface Texture Exploration

    Article • October 2006, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  417. Tele-Operated High Speed Anthropomorphic Dextrous Hands with Object Shape and Texture Identification

    Article • October 2006, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  418. Performance Assessment of a 3 DOF Differential Based Waist joint for the "iCub" Baby Humanoid Robot

    Article • September 2006, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  419. Haptic-Enabled Multimodal Interface for the Planning of Hip Arthroplasty

    Article • IEEE Multimedia, July 2006, Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  420. Braid Effects on Contractile Range and Friction Modeling in Pneumatic Muscle Actuators

    Article • The International Journal of Robotics Research, April 2006, SAGE Publications

    Prof Darwin G Caldwell

  421. Exoskeletons for human force augmentation

    Article • Industrial Robot the international journal of robotics research and application, December 2003, Emerald

    Prof Darwin G Caldwell

  422. Editorial

    Article • Transactions of the Institute of Measurement and Control, October 2003, SAGE Publications

    Prof Darwin G Caldwell

  423. Robotic manipulation of food products – a review

    Article • Industrial Robot the international journal of robotics research and application, August 2003, Emerald

    Prof Darwin G Caldwell

  424. Article • Autonomous Robots, January 2003, Springer Science + Business Media

    Prof Darwin G Caldwell

  425. A pneumatic muscle actuator driven manipulator for nuclear waste retrieval

    Article • Control Engineering Practice, January 2001, Elsevier

    Prof Darwin G Caldwell

  426. Bio-mimetic actuators: polymeric Pseudo Muscular Actuators and pneumatic Muscle Actuators for biological emulation

    Article • Mechatronics, June 2000, Elsevier

    Prof Darwin G Caldwell

  427. Natural and artificial muscle elements as robot actuators

    Article • Mechatronics, June 1993, Elsevier

    Prof Darwin G Caldwell

  428. An Artificial Muscle Actuator for Robots

    Article • January 1989, Springer Science + Business Media

    Prof Darwin G Caldwell

  429. Assistive Exoskeleton for Task Based Physiotherapy in 3-Dimensional Space

    Article • Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  430. Control of a Biomimetic "Soft-actuated" 10DoF Lower Body Exoskeleton

    Article • Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  431. A 5 dof Haptic Interface for Pre-operative Planning of Surgical Access in Hip Arthroplasty

    Article • Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  432. A Haptic Enabled Multimodal Pre-operative Planner for Hip Arthroplasty

    Article • Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  433. A Multimodal and Multisensorial Pre-Operative Planning Environment for Total Hip Replacement

    Article • Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  434. A Portable Fingertip Tactile Feedback Array — Transmission System Reliability and Modelling

    Article • Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  435. Integration of Haptic and Visual Modalities for a Total Hip Replacement Planning System

    Article • Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell

  436. SLIP AESTHEASIS: A Portable 2D Slip/Skin Stretch Display for the Fingertip

    Article • Institute of Electrical & Electronics Engineers (IEEE)

    Prof Darwin G Caldwell