• Publications
  • Influence
Series elastic actuators
  • G. Pratt, M. Williamson
  • Engineering, Computer Science
  • Proceedings IEEE/RSJ International Conference on…
  • 5 August 1995
TLDR
It is traditional to make the interface between an actuator and its load as stiff as possible. Expand
  • 2,075
  • 171
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The cog project: building a humanoid robot
To explore issues of developmental structure, physical embodiment, integration of multiple sensory and motor systems, and social interaction, we have constructed an upper-torso humanoid robot calledExpand
  • 617
  • 31
  • PDF
Neural control of rhythmic arm movements
  • M. Williamson
  • Computer Science, Medicine
  • Neural Networks
  • 1 October 1998
TLDR
In this paper we present an approach to robot arm control based on exploiting the dynamical properties of a simple neural network oscillator circuit coupled to the joints of an arm. Expand
  • 285
  • 20
  • PDF
Alternative Essences of Intelligence
TLDR
We present our methodology and the insights it affords for facilitating learning, simplifying the computation underlying rich behavior, and building systems that can scale to more complex tasks. Expand
  • 171
  • 7
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Robot arm control exploiting natural dynamics
TLDR
This thesis presents an approach to robot arm control exploiting natural dynamics, and provides a range of analysis tools to support it. Expand
  • 155
  • 6
  • PDF
Stiffness Isn't Everything
TLDR
This paper proposes that for natural tasks where small-motion bandwidth is not of paramount concern, actuator to load interfaces should be significantly less stiff than in most present designs. Expand
  • 165
  • 5
  • PDF
Rhythmic robot arm control using oscillators
  • M. Williamson
  • Engineering, Computer Science
  • Proceedings. IEEE/RSJ International Conference…
  • 13 October 1998
TLDR
This paper presents an approach to robot arm control based on exploiting the dynamical properties of a simple oscillator circuit coupled to the joints of an arm. Expand
  • 64
  • 4
  • PDF
Postural primitives: Interactive Behavior for a Humanoid Robot Arm
TLDR
This paper describes the implementation of reex action for the arm of the humanoid robot Cog [5]. Expand
  • 45
  • 3
  • PDF
Designing rhythmic motions using neural oscillators
  • M. Williamson
  • Computer Science
  • Proceedings IEEE/RSJ International Conference on…
  • 17 October 1999
TLDR
Neural oscillators offer simple and robust solutions to problems such as locomotion and dynamic manipulation. Expand
  • 39
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