We propose a method to plan optimal whole-body dynamic motion in multi-contact non-gaited transitions. Using a B-spline time parameterization for the active joints, we turn the motion-planning problem into a semi-infinite programming formulation that is solved by nonlinear optimization techniques. Our main contribution lies in producing constraintsatisfaction guaranteed motions for any time gri...

in this research, first, kinematic and dynamic equations of a 4-dof 3-link robotic finger are derived using denavit-hartenberg convention and lagrange’s formulation. to model the muscles, several springs and dampers are placed between the finger links. then, two advanced controllers, namely adaptive-robust and adaptive-neural, which can control the robotic finger in presence of parametric uncer...

In this paper, an application of the dynamics and control of redundant robotic systems is presented in order to investigate the feasibility of functional electrical stimulation assisted arm-free standing for paraplegics. Through the inverse dynamics analysis of a three dimensional dynamic model of quiet standing, several sets of the minimum number of degrees of freedom (DOF) such that there are...

Master-slave active robot hands and endoscopes, which provide dexterous manipulations and wide views like human hands and eyes, are required to be constructed. We have previously developed a multi-DOF ultrasonic motor consisting of a spherical rotor and a bar-shaped stator. The rotor rotates around three perpendicular axes using three natural vibration modes of the stator. In this study, a mult...

Abstract Variable Stiffness Actuator (VSA) is the core mechanism to achieve physical human–robot interaction, which an inevitable development trend in robotic. The existing variable stiffness actuators are basically single degree-of-freedom (DOF) rotating joints, achieving multi-DOF motion by cascades and resulting complex robot body structures. In this paper, integrated 2-DOF actuator with pro...

This paper investigates the six degrees of freedom (6-DOF) flight dynamics and stability of the hawkmoth Manduca sexta using a multibody dynamics approach that encompasses the effects of the time varying inertia tensor of all the body segments including two wings. The quasi-steady translational and unsteady rotational aerodynamics of the flapping wings are modeled with the blade element theory ...

An improved transfer matrix method for multi-rigid-body systems is presented based on the structural characteristics of the manipulator and the relations between motion transfer and force transfer. Thus, a new model applicable to serial robots is obtained by using of discrete time transfer matrix method. Based on the improved method, a unified model for a manipulator with n DOF is derived. This...

Interactively creating and editing 3D content requires the manipulation of many degrees of freedom (DoF). For instance, docking a virtual object involves 6 DoF (position and orientation). Multi-touch surfaces are good candidates as input devices for those interactions: they provide a direct manipulation where each finger contact on the table controls 2 DoF. This leads to a theoretical upper bou...

This paper describes the design concept of the performance enhanced humanoid robot LOLA. Our goal is to realize a fast, human-like walking motion. The robot has 22 degrees of freedom, including 7-DoF legs with actively driven toe joints. It is characterized by its lightweight construction, a modular, multi-sensory joint design with brushless motors and an electronics architecture using decentra...

We present a novel method for learning and tracking the pose of an articulated body by observing only its volumetric reconstruction. We propose a probabilistic technique that utilizes a multi-component Gaussian mixture model to describe the spatial distribution of voxels in a voxel image. Each component describes a segment or rigid body, and the collection of components are kinematically constr...