Abstract: This paper presents a methodology for design of dissipative assist robots with proven stability during set-point control. A dissipative assist robot is defined as one where the actuators ...

Abstract: This paper presents a methodology for design of mobile vehicles, mounted with underactuated manipulators operating in a horizontal plane, such that the combined system is differentially flat. A ...

Abstract: In this paper we present a study of the dynamics and control of a helicopter carrying a payload through a cable-suspended robot. The helicopter can perform gross motion, while the cable ...

Abstract: This paper presents a methodology for trajectory planning and tracking control of a tractor with a steerable trailer based on the system’s dynamic model. The theory of differential flatness is ...

Abstract: In this paper, a control methodology for a mobility assist robot is presented. There are various types of robots that can help persons with disabilities. Among these, mobile robots can help ...

Abstract: The home lift, position, and rehabilitation (HLPR) chair has a unique design and novel capabilities when compared with conventional powered wheelchairs. In addition to mobility, it provides lift ...