Abstract: Background . This article presents a method for describing the dynamic performance of multilegged robots. It involves examining how well the legged system uses ground contact to produce acceleration ...

Abstract: This paper illustrates the use of dynamic performance analysis in the design of legged robots, specifically hexapods. This is accomplished by comparing the dynamic performance of a cable-driven ...

Abstract: This paper presents a method for characterizing the performance limitations imposed by the yielding of the cables in systems with cable-driven transmissions. The method involves developing a ...

Abstract: This paper presents methodologies for the analysis and design of redundant manipulators, especially macro-/ministructures, for improved dynamic performance. Herein, the dynamic performance of a ...

Abstract: This article explores the effect that velocities have on a nonredundant robotic manipulator’s ability to accelerate its end-effector, as well as to apply forces/moments to the environment at the ...

Abstract: In this investigation a robotic system’s dynamic performance is optimized for high reliability under uncertainty. The dynamic capability equations (DCE) allow designers to predict the dynamic ...