This paper considers the problem of spatial planning and open-loop control for underactuated AUVs. Given a smooth inertial 3D trajectory to be followed by some vehicle point, the developed algorithm uses the vehicle dynamic model, and computes the 3D corresponding body-fixed linear and angular velocities as well as vehicle orientations, yielding a feasible 6 DOF trajectory. Tracking controllers...

A recursive dynamic modeling of a three-DOF parallel robot, namely, threeRevolute-Prismatic-Spherical (3-RPS) parallel manipulator is reported in this work. Euler parameters are utilized to define the 3-DOF orientation of its moving platform, because the coordinates are free of singularity. For the dynamic modeling, the concept of the Decoupled Natural Orthogonal complement (DeNOC) matrices is ...

In this paper we propose a force position control scheme in a DOF task space which is a generalization of the parallel control scheme in a DOF task space The con troller consists of a PD action on the position loop a PI action on the force loop together with gravity com pensation and feedforward of the desired contact force Kinestatic ltering is not used in the scheme Euler pa rameters are adop...

We have developed a new operator interface system for high-DoF articulated robots based on the idea of allowing the operator to extend the robot’s actual kinematics with virtual articulations. These virtual links and joints can model both primary task DoF and constraints on whole-robot coordinated motion. Unlike other methods, our approach can be applied to robots and tasks of arbitrary kinemat...

The depth-of-field (DOF) measured through psychophysical methods seems to depend on the target's characteristics. We use objective and subjective methods to determine the DOF of the eye for different pupil diameters and wavelengths in three subjects. Variation of image quality with focus is evaluated with a double-pass technique. Objective DOF is defined as the dioptric range for which the imag...

To explore an issue of a human-like motion, we have constructed a human-like biped robot called WABIAN-RII (WAseda BIped humANoid robot-Revised II) that has a total of fortythree mechanical degrees of freedom (DOF); two six DOF legs, two ten DOF arms, a four DOF neck, four DOF in the eyes and a torso with a three DOF waist. For human-robot symbiosis, the biped humanoid robot is required to have...

In this paper, the degrees of freedom (DoF) regions of constant coefficient multiple antenna interference channels are investigated. First, we consider a K-user Gaussian interference channel with Mk antennas at transmitter k, 1 ≤ k ≤ K , and Nj antennas at receiver j, 1 ≤ j ≤ K , denoted as a (K, [Mk], [Nj ]) channel. Relying on a result of simultaneous Diophantine approximation, a real interfe...

Based on flexible pneumatic bending joint and flexible pneumatic spherical joint, a kind of flexible pneumatic 5-DOF finger is proposed, which is composed of two bending joints and a spherical joint. The mathematic model of flexible pneumatic spherical joint is further analyzed. On the researching foundation of flexible pneumatic bending joint and flexible pneumatic spherical joint, the kinemat...

Series elastic actuators (SEA) are playing an increasingly important role in the fields of physical human-robot interaction. This paper focuses on the modeling and control of a cable-driven SEA. First, the scheme of the cable-driven SEA has been proposed, and a velocity controlled DC motor has been used as its power source. Based on this, the model of the cable-driven SEA has been built up. Fur...

Accuracy is one of the most important criteria for the performance evaluation of microand nanorobots or systems. Nanopositioning stages are used to achieve the high positioning resolution and accuracy for a wide and growing scope of applications. However, their positioning accuracy and repeatability are not well known and difficult to guarantee, which induces many drawbacks for many application...