A novel model-based controller for 6 degree-of-freedom (DOF) hydraulic driven parallel manipulator considering the nonlinear characteristic of hydraulic systems-proportional plus derivative with dynamic gravity compensation controller is presented, in order to improve control performance and eliminate steady state errors. In this paper, 6-DOF parallel manipulator is described as multi-rigid-bod...

snake robots are hyper-redundant robots that are connected with one or two dof joints. they offer a number of potential advantages beyond the capabilities of most wheeled and legged robots. in this paper, kinematics and dynamics of a planar multi-link snake robot in worm-like locomotion on an inclined surface is investigated. in this locomotion, snake robot is able to move in the vertical plane...

The workspace of a spatial 6‐DOF electro‐ hydraulic parallel manipulator is strongly coupled, due to its multi‐closed‐loop kinematic structure and the coupling complicates motion planning and control of the parallel manipulator. This paper clearly analyses the strong dynamic coupling property in the workspace of a spatial 6‐DOF parallel manipulator, using modal decouplin...

The control of a dynamic system with multiple degreesof-freedom (DOF) is far simpler if the system is uncoupled. The property of an uncoupled system can be achieved with careful design of mechanical structures in the case of conventional mechanisms. The study reported in this paper will show via experiment the uncoupling property in a compliant mechanism, which is driven by three PZT actuators....

In this letter, we propose a real-time self-collision avoidance approach for whole-body humanoid robot control. To achieve this, learn the feasible regions of control in humanoid's joint space as smooth boundary functions. Collision-free motions are generated online by treating learned functions constraints Quadratic Program based Inverse Kinematic solver. As geometrical complexity grows with n...

A multi-DOF ultrasonic motor developed in our previous study has significant potentials for dexterous actuation. The ultrasonic motor provides multiDOF rotation of a spherical rotor using three natural vibrations of a bar-shaped stator. In this paper, numerical analyses on the multi-DOF ultrasonic motor are conducted. First, a forward model of multi-DOF ultrasonic motor is developed considering...

A multi-DOF ultrasonic motor developed in our previous study has significant potentials for dexterous actuation. The ultrasonic motor provides multiDOF rotation of a spherical rotor using three natural vibrations of a bar-shaped stator. In this paper, numerical analyses on the multi-DOF ultrasonic motor are conducted. First, a forward model of multi-DOF ultrasonic motor is developed considering...

INTRODUCTION Innovative patient-specific models and simulations would be valuable for addressing problems in orthopedics and sports medicine, as well as for evaluating and enhancing corrective surgical procedures [1]. For example, a patient-specific dynamic model may be useful for planning intended surgical parameters and predicting the outcome of high tibial osteotomy (HTO). Development of an ...

Abstract To account for nonlinear wave–structure interaction, mooring dynamics and the associated viscous flow effects, a coupled mooring–viscous solver was formerly developed validated (Jiang et al. in Mar Struct 72:783, 2020a, Validation of dynamic model with RANS solver). This paper presents an extension to solve interacting articulated multibody offshore system. The presently extended is ve...

Foot pedals have been widely used in music performance primarily for switching tasks such as the kick drum pedal, MIDI synthesizer pedal, guitar effects pedal and the piano sustain pedal. The commonality in these pedals is the one DOF of movement, which is mapped to one parameter at a time. A higher DOF controller for the foot like the pedal panner would enable the performer to control multi-pa...