Abstract: A systematic approach for deriving the dynamical expression of general constrained robots is developed in this paper. This approach uses rigid-body dynamics and two kinematics-based mapping matrices ...

Abstract: An adaptive output force control scheme for hydraulic cylinders is proposed by using direct output force measurement through loadcells. Due to the large and somewhat uncertain piston friction ...

Abstract: Aimed at achieving ultrahigh control performance for high-end applications of harmonic drives, an adaptive control algorithm using additional sensing, namely, the joint and motor positions and the ...

Abstract: A continuous protein synthesis formulation based on the design principles applied to topology optimization problems is proposed in this paper. In contrast to conventional continuous protein design ...