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: 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 ...