Aiming to overcome the serious disadvantages of two kinds of under-actuated fingers: coupled finger and self-adaptive finger, this paper proposed a novel grasping mode, called Coupled and Self-Adaptive (COSA) grasping mode, which includes 2 stages: firstly coupled and then self-adaptive grasping. A 2-joint COSA finger with double tendons mechanisms (called COSA-GRS finger), is designed based on...

Coordinated actuated traffic signal systems have been widely deployed in urban and suburban areas as they provide progression along the major corridors. However, it has been often observed that uncoordinated cross street movements experience higher delay under the coordinated actuated signal systems due to their inability to adjust maximum green times (or force-off points). A few studies mentio...

Whilst the necessity of finding an intelligent-based controlling method for a two-leg walking robot increases, the balance of the under-actuated leg consisting of two links is emphasized in this study. This is not only a nonlinear structure, but also a single-input double-output system. However, the problem becomes concrete through the proposed diagonal recurrent neural networks (DRNN) method. ...

Abstract: A hierarchical sliding mode control approach is proposed for a class of SIMO under-actuated systems. This class of under-actuated systems is made up of several subsystems. Based on this physical structure, the hierarchical structure of the sliding surfaces is designed as follows. At first, the sliding surface of every subsystem is defined. Then the sliding surface of one subsystem is ...

A large amount of e®ort has been devoted to design better under-actuated robot hands. The most widely adopted approaches include rigid coupled hands and self-adaptive hands. The objective of this research is to design a robot ̄nger which combines advantages of both ways and overcomes their disadvantages. The concept of coupling and self-adaptation (COSA) was introduced. A linkage-based two-DOF (...