Abstract: Often, the dynamic behavior of multi-degree-of-freedom mechanical systems such as robots and manipulators is studied by computer simulation. An important step in this simulation is the inversion ...

Abstract: In this paper, a general framework for trajectory planning and tracking is formulated for dynamically stabilized mobile systems, e.g., inverted wheeled pendulums and autonomous helicopters. Within ...

Abstract: For optimization of classes of linear time-varying dynamic systems with n states and m control inputs, a new higher-order procedure was presented by the authors that does not use Lagrange ...

Abstract: A new procedure for optimization of linear time-varying dynamic systems has been proposed that uses transformations to embed the dynamic equations explicitly into the cost functional. This leads ...

Abstract: This paper presents the design of a passive two leg orthosis to gravity balance human legs for use by subjects with both leg impairment. This design combines the use of auxiliary parallelograms ...

Abstract: In this paper we present a workspace analysis methodology that can be applied for optimal design of cable-suspended planar parallel robots. The significant difference between regular parallel ...

Abstract: Biped robots are more versatile than conventional wheeled robots, but they tend to tip over easily. The dynamic stability of a biped robot needs to be maintained during walking. In this paper, ...

Abstract: The importance of energy efficiency of a robotic manipulator is clearly evident when the manipulator has to use on-board power. With miniature machines, this issue is even more important since ...

Abstract: In this paper, we investigate the effect of using springs and wing motions to minimize the power required by a mechanical bird to fly. Inertia forces as well as aerodynamic forces on the ...