This paper presents the design, modeling, analysis, and experimental results of a novel bipedal robotic system that utilizes two interconnected single degree-of-freedom (DOF) leg mechanisms to produce stable forward locomotion steering. The DOF is actuated via Reuleaux triangle cam-follower mechanism constant body height foot trajectory. Kinematic analysis dimension selection conducted first ge...

We present a novel algorithm for smooth and collision-free navigation for multiple human-like robots. Our approach combines reciprocal collision avoidance with kinematic and dynamic stability constraints to compute a non-oscillatory trajectory for each high-DOF robot. We use a multi-level optimization algorithm that combines accelerationvelocity obstacles with trajectory optimization. We highli...

Degree of freedom (DoF) region provides an approximation of capacity region in high signal-to-noise ratio (SNR) regime, while sum DoF gives the scaling factor. In this correspondence, we analyse the DoF region and sum DoF for unicast layered multi-hop relay wireless networks with arbitrary number of source/destination/relay nodes, arbitrary number of hops and arbitrary number of antennas at eac...

The Multiple-choice Multi-dimensional Knapsack Problem (MMKP) is a problem which can be encountered in real-world applications, such as service level agreement, model of allocation resources, or as a dynamic adaptation of system of resources for multimedia multi-sessions. In this paper, we investigate the use of a new model-based Lagrangian relaxation for optimally solving the MMKP. In order to...

Simulating human motion is a complex problem due to redundancy of the human musculoskeletal system. The concept of task-based dynamic motion prediction using singleor multi-objective optimization techniques provides a viable approach for predicting dynamic gait motions of digital humans, subjected to basic physical and kinematical constraints. The task-based motion prediction is in fact a numer...

The first step to study and develop a two Degrees of Freedom (DOF) prosthesis is to derive a dynamic model for simulation and control design. In this paper, the ankle-foot prosthesis has controllable Dorsi-Plantarflexion (DP) and Inversion-Eversion (IE) DOF. We derive a compliant dynamic model for a recently developed ankle-foot prosthesis followed by identification of the actuators, transmissi...

We present a novel approach to perform probabilistic collision detection between a high-DOF robot and high-DOF obstacles in dynamic, uncertain environments. In dynamic environments with a highDOF robot and moving obstacles, our approach efficiently computes accurate collision probability between the robot and obstacles with upper error bounds. Furthermore, we describe a prediction algorithm for...

Abstract In this study, the extreme roll events of a free-running ONR Tumblehome model in stern quartering seas are predicted by an unsteady Reynolds-averaged Navier–Stokes (URANS) solver coupled with dynamic overset grid approach. The validation study is first performed for prediction ship amplitude regular waves, indicating satisfactory agreement average difference less than 3% between simula...

Vibration isolation with mode decoupling plays a crucial role in the design of an intelligent robotic system. Specifically, coupled multi-degree-of-freedom (multi-DOF) model accurately predicts responses system dynamics; hence, it is useful for vibration and control decoupling. This study presents method based on identification, including multi-DOF to systems. Moreover, entire procedure describ...

Background: The dynamic phantom is one of the best tools to study the impact of motion on tumor target delineation and absorbed dose verification during dose delivery. Materials and Methods: this study, a 6-DOF (degrees of freedom) phantom was designed following the stacked serial kinematics and assembled by six commercial motion stages to generate 6-DOF motion, which were RotX (pitch, around X...