Biped robots are intricate in design, with more degrees of freedom (DOF) because of the challenging goal of imitating humanoid gait. This paper gives a very simple architecture of the biped robot have three degrees of freedom (DOF)in each leg, one DOF for hip joint and one corresponding to the knee and ankle joint respectively. Denavit-Hartenberg parameter is being used to obtain the solution f...

Existing remotely-actuated microrobots powered by magnetic coils far from the workspace exhibit a maximum of only five-degrees-of-freedom (DOF) actuation, as creation of a driving torque about the magnetization axis is not achievable. This lack of orientation control limits the effectiveness of existing microrobots for precision tasks of object manipulation and orientation for advanced medical,...

In this study, we investigated whether the objective depth-of-focus (DOF) is different from the subjective DOF and whether it correlates to accommodative microfluctuations (AMF). The objective DOF and subjective DOF at 1.5 D accommodative stimulus (AS) level were compared in the same group of subjects. The objective DOF and magnitude of AMF were measured at 5 AS levels from 0 D to 4 D. Results ...

Current door-opening methods are mainly developed on tracked, wheeled and biped robots by applying multi-DOF manipulators and vision systems. However, door-opening methods for six-legged robots are seldom studied, especially using 0-DOF tools to operate and only force sensing to detect. A novel door-opening method for six-legged robots is developed and implemented to the six-parallel-legged rob...

In naval engineering and related disciplines, it is common for dynamic models of the human body to be used in conjunction with quantitative records of body and ship motions, in order to study human balance behaviour while performing various shipboard activities. Research in this area can lead to improvements in ship operations and designs that improve crew safety and efficiency. This paper pres...

A finite-element deformable surface-spine model is developed in this paper to register two surfaces by recovering the nonlinear deformation with respect to each other. The deformable surface-spine model is a dynamic model governed by Lagrangian motion equations. A 9 degree-of-freedom (dof) finite-element surface element and a $-dof spine element are developed to iteratively solve Lagrangian equ...

a acceleration dof degree of freedom H Frequency response function f Applied force FE Finite Element FRF Frequency Response Function Φc The mode shape matrix of the bare table at dof to be constrained Subscripts c degree of freedom at locations to be constrained f dof at free locations t dof at tip of the slip table s dof at the classic shaker input location on the slip table i any other dof no...

in this paper, a nonlinear model of the underactuated six degrees of freedom (6 dof) quadrotor helicopter was derived based on the newton-euler formalism. a new nonlinear robust control strategy was proposed to solve the stabilizing and path following problems in presence of external disturbances and parametric uncertainties. the proposed control structure consist of a sliding mode control base...