This article focuses on the modeling and controlling of Unmanned Aerial Manipulators (UAMs) in a leader/follower configuration performing cooperative manipulation task. Each UAM consists an Vehicle (UAV) with attached serial-link robotic manipulator. The Recursive Newton-Euler dynamics formulation is employed to account for interaction between UAV its overall system couple UAMs carrying load. c...

The effect of changes in mechanical limb properties on the peak frequency of different tremor forms was analysed. Wrist tremor was recorded by an accelerometer fixed to the dorsum of the hand and demodulated surface EMG was recorded from the wrist extensors, while the extended hand was loaded with successively heavier weights. Physiological tremor was characterised by flat EMG spectra and a gra...

Series elastic actuators have a spring intentionally placed at the actuator output. Measuring the spring strain gives an accurate measurement for closed-loop actuator force control. The low spring stiffness allows for high control gain while maintaining actuator stability. This gives series elastic actuators many desirable properties including high bandwidth at moderate force amplitudes, low ou...

Robot Hardware The bipedal robot ATRIAS has been developed for efficient and versatile locomotion. Its design was inspired by the spring-mass model, which has been proposed as a template for hopping, running and walking [1, 2]. The 60kg robot walks on two legs of 0.9m maximum length which are driven by two motors each, sharing the load of extending and rotating the leg. A carbon-fiber leaf spri...

<p style='text-indent:20px;'>This article deals with the dynamic stability of a flexible cable attached at its top end to cart and load mass bottom end. The model is governed by system one partial differential equation coupled two ordinary equations. Assuming that time-dependent delay occurs in boundary, main concern this paper stabilize dynamics as well dynamical terms related mass. To d...