A symmetry position/force hybrid control framework for cooperative object transportation tasks with multiple humanoid robots is proposed in this paper. In a leader-follower type cooperation, follower robots plan their biped gaits based on the forces generated at their hands after a leader robot moves. Therefore, if the leader robot moves fast (rapidly pulls or pushes the carried object), some o...

This paper proposes a new cooperative transportation control algorithm in consideration of not only the internal force but the external force applied to “Mobile Robot for a Wheel (MRWheel)”. First, we describe the merits and demerits of the model-based external force compensation method proposed in our previous study and explain the necessity of this new control algorithm. Secondly, we explain ...

A general computational model of the human lumbar spine and trunkmuscles including optimization formulations was provided. For a given condition, the trunk muscle forces could be predicted considering the human physiology including the follower load concept. The feasibility of the solution could be indirectly validated by comparing the compressive force, the shear force, and the joint moment. T...

In this paper it is attempted to investigate the behavior of an inviscid flow in the meridional plane of an axial flow compressor. For this purpose the 3-D unsteady Euler equations in cylindrical coordinate are averaged in tangential direction. Therefore, the equations are reduced to a 2-D system. By averaging the tangential component of momentum equation, a blade force will result. Axial and r...

Steering rods are subject to variety kinds of loads which will eventually cause failure. Automobile manufacturers and engineers are seeking ways to test the fatigue life of the steering rods. Steering rods under periodic loads over millions of cycles will get fatigued. We here provide a fatigue test bench for steering rods which applies periodic loads to the rod with a cam loading system. Cyclo...

A vibration analysis of a flexible follower in an oscillating cam system undergoing rise-dwell-fall-dwell (RDFD) motion is performed. Owing to the time-dependent boundary effect caused by considering simultaneously axial and lateral displacements follower, two geometric constraints are formulated added Hamilton’s principle establish equation follower. The coupled has been studied for first time...

In this paper it is attempted to investigate the behavior of an inviscid flow in the meridional plane of an axial flow compressor. For this purpose the 3-D unsteady Euler equations in cylindrical coordinate are averaged in tangential direction. Therefore, the equations are reduced to a 2-D system. By averaging the tangential component of momentum equation, a blade force will result. Axial and r...

Previous studies have addressed the physical principles and muscular activity patterns underlying terrestrial lateral undulation in snakes, but not the mechanism by which muscular activity produces curvature and propulsion. In this study, we used synchronized electromyography and videography to examine the muscular basis and propulsive mechanism of terrestrial lateral undulation in gopher snake...