Abstract: This paper focuses on the control of systems with unknown dynamics and deals with the class of systems described by ẋ=f(x,t ) + h(x,t ) + B(x,t )u + d(t ) where h(x,t ) and d(t ) are ...

Abstract: A manipulator design theory for reduced dynamic complexity is presented. The kinematic structure and mass distribution of a manipulator arm are designed so that the inertia matrix in the equation ...

Abstract: The direct-drive arm that has no gears between motors and their loads have several important advantages including no backlash, small friction, and high mechanical stiffness. The arm mechanism, ...

Abstract: The aim of this work is to investigate alternative designs for machines intended for biomimetic locomotion in liquid environments. For this, structural compliance instead of discrete assemblies ...

Abstract: Bond graph models provide very useful insights into the structure of dynamic systems. One major advantage of using these models is the clear representation of constraints and independent state ...

Abstract: New developments in MEMS (microelectromechanical systems) fabrication allowed the development of new types of atomic force microscopy (AFM) sensor with integrated readout circuit and actuator built ...