Gesture-changeable under-actuated (GCUA) function is presented to make robot hand grasp objects dexterously and achieve humanoid manipulations with low dependence on control system. Based on GUCA function, GCUA Hand II is developed, which has 5 fingers and 14 DOFs. All the fingers use similar tendon mechanisms to achieve GCUA function which includes traditional under-actuated (UA) grasping moti...

Material properties and composite structures play key roles in tailoring the performance of soft robots. Unfortunately, current design fabrication approaches limit achievable complexity functionality these two categories hinder robot performance. Here, an approach that allows direct novel is presented. The process uses computational topology optimization to determine required 3D structure hyper...

In this paper static and dynamic responses of a fixed-fixed microbeam to electrostatic force and mechanical shock for different cases have been studied. The governing equations whose solution holds the answer to all our questions about the mechanical behavior is the nonlinear elasto-electrostatic equations. Due to the nonlinearity and complexity of the derived equations analytical solution are ...

This paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. The proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. As a result, the proposed controller is simple, fast response and superior to the torque c...

This paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. The proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. As a result, the proposed controller is simple, fast response and superior to the torque c...

The main focus of this paper is on the motion planning problem for an under-actuated, submerged, omni-directional autonomous vehicle. Underactuation is extremely important to consider in ocean research and exploration. Battery failure, actuator malfunction and electronic shorts are a few reasons that may cause the vehicle to loose direct control of one or more degrees-of-freedom. Underactuation...