Abstract: In this work, the motion of a nonlinear inverted pendulum (NIP) on deformable terrain due to foot contact forces is used for energy analysis and footstep placement. In order to include the linear and rotational motions of ...

Abstract: Gait generation of a humanoid robot on a deformable terrain is a complex problem as the foot and terrain interaction and terrain deformation have to be included in the dynamics. To simplify the dynamics of walk on deformable ...

Abstract: In this work, the motion of a nonlinear inverted pendulum (NIP) on deformable terrain due to foot contact forces is used for energy analysis and footstep placement. In order to include the linear and rotational motions of ...

Abstract: We study the stability of a pre-tensioned, heavy cable traveling vertically against gravity at a constant speed. The cable is modeled as a slender beam incorporating rotary inertia. Gravity modifies the tension along the ...

Abstract: Fracture may occur in human lower leg bones considering varying loads acting on them while performing various functions. Implants, commonly used in healing the fractures, must be properly aligned with the bones' anatomical ...