Abstract: The contact between two bodies is a complicated phenomenon in which the force and the relative position have nonlinear relations. Empirical results in the literature show that, in some mechanical systems such as biological ...

Abstract: Most of existing friction compensation techniques are based on friction models that uses the velocity as its input. These methods are difficult to apply to inexpensive encoderbased actuator systems that do not exhibit ...

Abstract: This paper studies a novel fluid actuated system for a spherical mobile robot. The robot’s mechanism consists of two essential parts: circular pipes to lead spherical moving masses (cores) and an internal driving unit to ...