Pedestrian road casualties are a major concern in many countries. Vehicle safety systems attempt to reduce casualties and the accurate assessment of such systems is therefore essential. Passive safety assessment is well established, and additional active safety assessment has recently emerged. However, assessment methods accounting for the interaction between active and passive safety do not ex...

We present a method to control a manipulator with passive joints, which have no actuators, in operational space. The equation of motion is described in terms of operational coordinates. The coordinates are separated into active and passive components. The acceleration of the active components can be arbitrarily adjusted by using the coupling characteristics of manipulator dynamics. This method ...