Fin Kinematics Pablo Valdivia y Alvarado and coworkers propose a novel approach to design fabricate soft composite structures for robots that allows precise tailoring of the robot's mechanical properties in article 2100361. The is implemented stingray-like robot enable bespoke fin kinematics which turn superior swimming performance when compared with traditional, cast prototypes.

Smart surfaces are becoming more and popular in the field of intralogistics, as they combine great flexibility with easy reprogrammability. Pursuing this trend, following article proposes a modular surface to perform handling tasks, such sorting, stopping, or slowing down material flows. Differently from current technology, used is under-actuated, thus, it exploits speed, already possessed by o...

In this paper, the obstacle avoidance problem-based leader–following formation tracking of nonholonomic wheeled mobile robots with unknown parameters desired trajectory is investigated. First, under-actuated system transformed into a fully-actuated by obtaining an auxiliary control variable using transverse function. Second, introducing potential function for each obstacle, influence obstacles ...

This article discusses the use of Sliding Mode Control (SMC) for control a four-rotor vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV). The Newton-Euler method is utilized to build quadcopter's dynamic model. model divided into under-actuated fully actuated subsystems. Even though controlling UAVs difficult owing their extremely nonlinear characteristics, previous experimental...

This paper deals with the L2 stability of a shape memory alloy actuated position control system, based on a single wire under constant axial load. Presuming a controller has certain speci c dissipativity characteristics, it is shown that system stability can be guaranteed for a large class of controllers. In particular, the results can be used to show stability under approximated PID, PI and PD...

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,...

A new hybrid controller has been applied for feedback stabilization of a Pendubot, whose dynamics show second order nonholonomic properties. Experimental results for di erent test cases show that hybrid control outperforms the existing control algorithm. This successful implementation provides a novel alternative for the control of under-actuated mechanical systems. Many such systems are subjec...

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...

Powder-actuated (also referred to as low velocity or powder-driven) fasteners are commonly used to attach cold-formed steel framing members, usually a track, to a concrete or structural steel support. Although commonly used, their behavior is less well understood than other fasteners such as screws, bolts and welds. The AISI Cold-Formed Steel Design Manual does not explicitly address powder act...