We consider the problem of trajectory planning and control for an XYnR̄ planar robot with the first two joints (rotational or prismatic) actuated and n rotational passive joints, moving both in the presence and the absence of gravity. Under the assumption that each passive link is attached at the center of percussion of the previous passive link, dynamics of the system can be expressed through t...

We describe a new Compliant Articulated Robot Leg, CARL, which we constructed as a prototype for an autonomous robot quadruped. The leg has been designed for dynamic walking, trotting and bounding gaits, with an expected top speed of 3m=s. It is an articulated 4 degree of freedom design with revolute joints as opposed to prismatic joints for improved mobility, simplicity and low friction. It em...

In this paper, we propose a biped robot each of whose legs is composed of two 3-DOF parallel platforms that are linked serially. The thigh of each leg consists of a 3-DOF orientation platform and the shank consists of 3-DOF asymmetric parallel platform. The former consists of 3 active linear actuators and 7 passive joints. And the latter consists of two active linear actuators, one active rotat...

Due to their inherent compliance, soft actuated joints are becoming increasingly important for robotic applications, especially when human-robot-interactions are expected. Several of these flexible actuators are inspired by biological models. One perfect showpiece for biomimetic robots is the spider leg, because it combines lightweight design and graceful movements with powerful and dynamic act...

This paper proposes the locomotion control system for a biped locomotion robot. The proposed control system is composed of motion generator system and motion control system. Motion generator system is composed of nonlinear oscillators which generate the commanded trajectories of the joints as functions of phases of oscillators. Motion control system is composed of motors with controllers instal...

In this paper we develop two noble mechanisms for im proving the motions of humanoid robots The double spherical joint is a six DOF joint that consists of six sin gle DOF mechanical pairs in series with their axes inter secting at a point The double spherical joint replaces two hip joints six DOF of humanoid robot and even provides the equivalent function of waist joints without actually adding...

The paper by Zhnang and Roth [5] presents a Linear solution to kinematic parameter identification of robot manipulators. With their method, the orientation parameters for all revolute joints have to be solved first before solving for the translation parameters for all revolute joints and the orientation parameters for all prismatic joints simultaneously. Our major modification here is to decomp...

This paper describes the design and performance of the OmniTread serpentine robot, developed at the University of Michigan. Serpentine robots are mobile robots that comprise of multiple rigid segments, connected by actuated joints. The segments usually have drive elements, such as wheels or tracks. To date, we have developed two versions of the OmniTread. The larger version, called “OT-8,” has ...

A proportional-derivative (PD) control with on-line gravity compensation is proposed for regulation tasks of robot manipulators with elastic joints. The work extends a previous PD control with constant gravity compensation at the desired configuration. The control law requires measuring only position and velocity on the motor side of the elastic joints, while the on-line gravity compensation to...

..................................................................................................................................... 2 Preface ........................................................................................................................................ 3 Introduction ........................................................................................................