In this paper, an application of the dynamics and control of redundant robotic systems is presented in order to investigate the feasibility of functional electrical stimulation assisted arm-free standing for paraplegics. Through the inverse dynamics analysis of a three dimensional dynamic model of quiet standing, several sets of the minimum number of degrees of freedom (DOF) such that there are...

A dynamic model of running–the spring-loaded inverted pendulum (SLIP)–has proven effective in describing the force patterns found in a wide variety of animals and in designing and constructing a number of terrestrial running robots. Climbing or vertical locomotion has, on the other hand, lacked such a simple and powerful model. Climbing robots to date have all been quasi-static in their operati...

Tracking of a moving target by uncalibrated model independent visual servo control is achieved by developing a new \dynamic" quasi-Newton approach. Model independent visual servo control is de ̄ned as using visual feedback to control a robot without precisely calibrated kinematic and camera models. The control problem is formulated as a nonlinear least squares optimization. For the moving target...

Kinematic and dynamic models of a human body are presented. The models intend to represent paraplegics wearing a powered exoskeleton. The proposed exoskeleton fully controls the motion of the hip and knee joints, i.e., each lower extremity contains four actuators, three at the hip joint and one at the knee joint. A spring-loaded ankle-foot orthosis completes the exoskeleton. The kinematic model...

Compressors are a primary cause for numerous HV AC noise and vibration problems. Typically, vibration energy is transmitted from the compressor to the chassis through piping and isolation mounts. The design of these attachments is thus of paramount importance in determining the dynamic performance of a HV AC unit. Below certain frequencies, compressor vibration can be well described as a rigid-...

In this work, we propose a new formal tool called CGPN (Conceptual Graph Petri Nets) which is a combination of CG (Conceptual Graph) and CPN (Color Petri Net) to model collaborative behavior of agents in a MAS(Multi Agent System) to achieve some goals. The CG is used to represent knowledge and on the other side CPN is used to model the concurrent and dynamic aspects of a system. It is difficult...

A rigid base body, supported by a fixed pivot point, is free to rotate in three dimensions. Multiple elastic subsystems are rigidly mounted on the rigid body; the elastic degrees of freedom are constrained relative to the rigid base body. A mathematical model is developed for this multibody attitude system that exposes the dynamic coupling between the rotational degrees of freedom of the base b...

Abstract When the oil supply is not adequate to maintain ideal lubrication, angular contact ball bearing will enter into starved lubrication regime resulting in potential performance degradation and consequently severe failures. To study effects of on bearing, this paper first proposes a multi-degree-of-freedom (DOF) tribo-dynamic model by introducing five-DOF inner ring, six-DOF balls, cage. T...