Mehmet Can Özparpucu

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Compliant elements in robotic systems can strongly increase the energy efficiency of highly dynamic periodic motions with large energy consumption such as jumping. Their control is a challenging task for multijoint systems. Typical control algorithms are model-based and thus fail to adjust to unexpected mechanical environments or make limited use of(More)
Variable Stiffness Actuators (VSA) are currently being regarded as promising actuator types in robotics research especially due to their capability to store potential energy in their elastic elements and to control this energy by altering the elastic properties of these elements. The controllable potential energy enables these actuators to outperform their(More)
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