Philipp Stratmann

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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)
There are multiple indications that the nervous system of animals tunes muscle output to exploit natural dynamics of the elastic locomotor system and the environment. This is an advantageous strategy especially in fast periodic movements, since the elastic elements store energy and increase energy efficiency and movement speed. Experimental evidence(More)
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