Abstract: Unlike wheeled vehicles, compliance in walking machine systems changes due to the variation of leg geometry, as its body proceeds. This variation in compliance will cause vibration, even if ...

Abstract: The mobility equation has been applied to predict the indeterminacy of unknown joint forces/torques in static analysis. In this paper, the mobility equation is modified to investigate the ...

Abstract: The performance of a legged system is closely related to the adopted gait. Among the many available gaits, the wave gait possesses the optimum stability [1–3] and has been applied to walking ...

Abstract: The design of the geometry of a walking machine depends to a considerable extent on the applications for which the machine is intended. Nevertheless, there are some very general principles and ...

Abstract: Although Stewart platforms have been applied in the design of aircraft and vehicle simulators and parallel robots for many years, the closed-form solution of direct (forward) position analysis ...

Abstract: This paper presents the closed-form solution of the forward position analysis of the nearly general Stewart platform, which consists of a base and a moving planar platform connected by six ...

Abstract: The energy efficiency of the robots of today’s generation is in general very poor due to the existence of “geometric work.” The geometric work is geometry dependent and can be eliminate by ...

Abstract: The end-effector angle is defined as the angle between the end-effector axial axis and the hand axis (an axis from the wrist center to the end-effector reference point). Most industrial ...

Abstract: Foot forces in walking machines and finger forces in multi-fingered grippers are usually indeterminate due to the multi-closed-chain geometry of the systems. While many methods were proposed to ...