This work presents a systematic approach to optimizing the mechanical design of a novel Self-excited Tripedal Dynamic Experimental Robot, STriDER. Specifically, we present a numerical optimization-based formulation for the design of STriDER’s mechanical parameters that minimizes the amount of externally supplied actuation energy consumed while taking a single step. The optimal design is found w...

All flexible materials such as textiles, papers, polymers or metals are handled on rollers during their processing. Maintaining web tension in the entire processing line under changing web speed is a key factor for achieving good final product quality. Two approaches are mostly used for tension control: load cells which provide direct web tension measurement or dancers which indirectly regulate...

We present a general framework for the optimal control of driftless nonlinear systems defined by means of distributions of smooth vector fields that generate nilpotent Lie algebras. A smooth varying inner product on the planes of the distribution, yields the energy functional that allows to approach the optimal control problem as a sub-Riemannian geodesic problem. This class of systems is relev...

We consider symmetric 2 degree of freedom Hamiltonian systems which are resonant because of the symmetry, such as the spherical pendulum. Perturbing such a system by breaking the symmetry (e.g. adding a magnetic term) creates bifur-cations in the geometry of the families of periodic orbits, and the aim of this paper is to study this geometry. For brevity, we consider only the cases of symmetry ...

Arguments derived from the theory of science have been present in strategic management discourse since at least the beginning of the 1970s. The field’s topjournal, the Strategic Management Journal, has printed several theory of sciencebased papers. Most positions in the theory of science (falsificationism, instrumentalism, realism, constructivism, etc.) have been present in the methodological d...

Networked Control Systems over mobile ad-hoc networks have drawn the attention of the researchers because of its suitability in various ad-hoc applications. This paper presents the investigation of such systems using both real wireless communication and co-simulation of MATLAB and OPNET. The plant and the wireless node models are simulated on a computer by MATLAB and OPNET, respectively. The co...

This work aims at finding optimal trajectory of compassgait biped walking robot in terms of energy consumption and passive dynamic walking. The planar biped model, an inverted double pendulum, has a free hinge at all joints, i.e., the hip and stance ankle. The impulsive external force is exerted on the swing ankle for short initial period. With the equation of motion, the power of external forc...

Furuta’s pendulum has been an excellent benchmark for the automatic control community in the last years, providing, among others, a better understanding of model-based Nonlinear Control Techniques. Since most of these techniques are based on invariants and/or integrals of motion then, the dynamic model plays an important role. This paper describes, in detail, the successful dynamical model deve...

The Furuta pendulum, or rotational inverted pendulum, is a system found in many control labs. It provides a compact yet impressive platform for control demonstrations and draws the attention of the control community as a platform for the development of non-linear control laws. Despite the popularity of the platform there are very few papers which employ the correct dynamics and only one that de...

The rotary inverted pendulum, also named Furuta Pendulum, has been studied extensively for control performance evaluation in under-actuated mechanisms. The H∞ control invoking Linear Matrix Inequality (H∞-LMI) has been also wide employed for linear control design. This paper deals with the feasibility ofH∞-LMI technique to stabilize the rotary inverted pendulum around its unstable equilibrium p...