Traditional kinematic analysis of manipulators, built upon a deterministic articulated kinematic modeling often proves inadequate to capture uncertainties affecting the performance of the real robotic systems. While a probabilistic framework is necessary to characterize the system response variability, the random variable/vector based approaches are unable to effectively and efficiently charact...

Dextrous manipulation planning is a problem of paramount importance in the study of multi ngered robotic hands. In this paper, we show in general, that all system variables (the nger joint, object,and contact velocities) need to be included in the di erential kinematic equation used for manipulation planning, even if the manipulation task is only speci ed in terms of the goal con guration of th...

A numerical method is presented for the time-domain simulation of large amplitude motions of a 2-D surface piercing body with arbitrary shape in deep water. Based on potential theory, panels are distributed on the body and desingularized sources are distributed above the calm water surface. The body boundary condition is satisfied on the exact submerged body surface. The free surface boundary c...

in this study, focuses on applying the hp-version for forward modeling. the eit forward solver is normally based on the conventional finite element method (hfem). in h-fem, the polynomial order p of the element shape functions is constant and the element size h, is decreased. to accurately simulate the forward solution with the hfem, a mesh with large number of nodes and elements is usually need...

We hypothesize that the CNS detects a loss of balance by comparing outputs predicted by a nominal, forward internal model with actual sensory outputs. When the resulting control error signal reaches an anomalously large value, this control error anomaly (CEA) signals a loss of balance and precedes any observable compensatory response. To test this hypothesis, a multi-input, multi-output interna...

Neuromusculoskeletal models solve the basic problem of determining how the body moves under the influence of external and internal forces. Existing biomechanical modeling programs often emphasize dynamics with the goal of finding a feed-forward neural program to replicate experimental data or of estimating force contributions or individual muscles. The computation of rigid-body dynamics, muscle...