In this paper we present some ideas on the control of underactuated mechanical systems using switching and saturation. We focus on the swingup control problem for a class of \gymnast" robots and also for the classical cart{pole system. The design methodology is based on partial feedback linearization in a rst stage to linearize the actuated degrees of freedom followed by the control of the tran...

Coordinated actuated traffic signal systems have been widely deployed in urban and suburban areas as they provide progression along the major corridors. However, it has been often observed that uncoordinated cross street movements experience higher delay under the coordinated actuated signal systems due to their inability to adjust maximum green times (or force-off points). A few studies mentio...

An open-loop control for underactuated mechanical systems using oscillatory inputs with amplitude and frequency modulations is investigated. Once all actuated joints are moved to their desired positions, oscillatory inputs are applied to an actuated joint to move the remaining unactuated joints. The steering force of the unactuated joints is achieved by utilizing the dynamic coupling between ac...

This paper describes a system for interactive mechanically actuated percussion. Design principles regarding seamless control and retention of natural acoustic properties are established. Performance patterns on a preliminary version are examined, including the potential for cooperative and distributed performance.

In this work, the concept of a convolution product of real-valued functions on the Special Euclidean group, SE(D) (which describes all rigid body motions in D-dimensional Euclidean space), is applied to the determination of workspaces of discretely actuated manipulators. These manipulators have a finite number of joint states. If a discretely actuated manipulator consists of P actuated modules,...

Virtual Prototyping with haptic feedback offers great benefits in the development process of actuated systems. We present a generic control scheme for the haptic rendering of actuated mechanisms, introducing the active admittance. It extends the conventional admittance control by modeling the actuation and the movable parts of the mechanism separately. This allows for an efficient iterative des...

in the current study the effect of casimir force and squeezed film damping on the pull-in instability and dynamic behavior of electrostatically actuated nano and micro electromechanical systems is investigated separately. linear elastic membrane theory is used to model the static and dynamic behavior of system for strip, annular and disk geometries. squeezed film damping effect is modeled using...

This paper presents the optimal mechanism design and dynamic analysis of a prototype 3-leg 6-DOF (degree-of-freedom) parallel manipulator. Inverse kinematics, forward kinematics, inverse dynamics and working space characterizing the platform motion are derived. In the presented architecture, the base platform has three linear slideways individually actuated by a synchronous linear servo motor, ...

The evolution of endoscopic capsules, from passive tools to robotic devices, increasingly attracts the interest of the research community. In the past few years, significant progress has been achieved in the miniaturization of electronics and electromechanical systems. However, their use in commercial endoscopic capsules is limited by their power demands, which, to present, cannot be adequately...

For people living with paralysis, restoration of hand function remains the top priority because it leads to independence and improvement in quality of life. In approaches to restore hand and arm function, a goal is to better engage voluntary control and counteract maladaptive brain reorganization that results from non-use. Standard rehabilitation augmented with developments from the study of br...