PUCCI , D

In the context of humanoid skill learning, movement primitives have gained much attention because of their compact representation and convenient combination with a myriad of optimization approaches. Among them, a well-known scheme is to use Dynamic Movement Primitives (DMPs) with reinforcement learning (RL) algorithms. While various remarkable...

This paper presents the design and the experimental validation of a Series rotary Elastic Actuator (SEA). The actuator is conceived to be installed on both the knee and the ankle joint of the version three of the humanoid robot iCub. The actuator is composed of an electric motor, a gearbox, and a customized torsion spring. The stiffness value...