... . collision avoidance design elasticity human-robot interaction robot dynamics service robots springs (mechanical) nonlinear stiffness passive compliance physical human-robot interaction safety mechanism In recent years, service robots have received considerable attention. Because...

... 2010 20 04 2010 computer aided engineering control engineering computing humanoid robots iterative methods mechatronics optimisation robot dynamics topology The importance of computer aided engineering (CAE) in product development processes and research has been increasing...

..., it is desirable to maintain the partition values as close to constant as possible. actuators control system synthesis optimisation robot dynamics robot kinematics 26 06 2008 09 05 2009 09 07 2009 2009 American Society of Mechanical Engineers ...

... finite element analysis micromechanics microrobots robot dynamics robot kinematics The increasing needs for better accuracy and high performances in manufacturing motivate researchers to develop new classes of parallel manipulators with reduced number of degrees of freedom. These manipulators...

... redundancy to eliminate singularities and to improve dexterity and justifies the choice of the presented mechanism for ankle rehabilitation. 12 06 2007 22 08 2008 08 10 2008 Jacobian matrices patient rehabilitation robot dynamics robot kinematics The use of robots...

... to the operator with no risks posed to humans. mobile robot hybrid mechanism compounded locomotion and manipulation virtual prototype dynamic simulations end effectors mobile robots optimisation robot dynamics torque virtual prototyping 26 07 2007 25 01 2008 20 05 2008...

... and dissipation leads to both mechanical and control choices to maximize the system’s dynamic range, as well as improve power efficiency. gears power transmission (mechanical) robot dynamics 19 02 2006 07 12 2006 The feasible bounds of operation...

... condition at the ground contact points. The result is a description of how well each hexapod can accelerate its torso without causing slippage at the ground contact points. 16 02 2006 21 08 2006 legged locomotion robot dynamics design agility dynamic performance acceleration...

... configurations: ( a ) 3- R ́ ́ ( RRR ) E R ́ ́ , and ( b ) 3-Ŕ R ́ ́ R ̀ Ř R ́ ́ 09 02 2006 13 06 2006 robot dynamics parallel mechanism parallel mechanism with multiple operation modes type synthesis screw theory...

... i that minimize the weighted sum of torques and satisfy the performance constraints g i R . The DCE and DCH describe the robot’s dynamic performance given a set of actuator torques. The inverse problem is to specify a desired dynamic performance and to determine the actuator...

... for Overconstrained Parallel Cable. Mechanisms ,” The Canadian Congress of Applied Mechanics (CANCAM) , McGill University , Montreal . Oh , S.-R. , Mankala , K. , Agrawal , S. K. , and Albus , J. S. , 2005 , “ A Dual-Stage Planar Cable Robot: Dynamic Modeling and Design of A Robust...

... stable walking patterns, can be obtained. 28 05 2004 21 07 2005 legged locomotion robot dynamics stability The walking of bipeds is the result of one of the most complex motor coordination patterns among all robotic systems. Walking patterns ensure stability of biped during...

... robot dynamics optimisation robot kinematics prototypes design Parallel mechanisms are excellent candidates for advanced robotic applications. However, in applications such as space robotics or telescope mechanisms, dynamic balancing is required or at least highly desirable. A mechanism...

... . Manuscript received Aug. 2003; rev. Jan. 2004. Associate Editor: G. R. Pennock. 01 Aug 2003 01 Jan 2004 28 10 2004 robot dynamics virtual reality legged locomotion gait analysis modelling Development of walking legged robots constitutes a big challenge for the robotics...

... no-slip motion even when dynamic effects are taken into consideration. mobile robots robot dynamics mechanical contact axles wheels differential equations sensors It is a well known fact that for wheeled mobile robots moving on uneven terrain, in general, there is slip at the wheel...

... by the Design Automation Committee for publication in the JOURNAL OF MECHANICAL DESIGN . Manuscript received August 2001. Associate Editor: H. M. Lankaroni 01 August 2001 11 03 2004 manipulator dynamics vibration control robot dynamics Parallel manipulators are known...

... 01 Jan 2000 industrial manipulators position control compliance control robot dynamics machine control Due to the limited precision of the position controlled robot manipulator systems, tasks requiring high precision such as electronic part assembly cannot be successfully...

... . Manuscript received June 1998; revised Jan. 2000. Associate Technical Editor: G. S. Chirikjian. 01 June 1998 01 Jan 2000 industrial manipulators mechanical variables control design engineering robot dynamics robot kinematics This article discusses the development...

... by the Mechanisms Committee for publication in the JOURNAL OF MECHANICAL DESIGN . Manuscript received Jul. 1998; revised Dec. 1999. Associate Technical Editor: C. M. Gosselin. 01 Jul 1998 01 Dec 1999 industrial manipulators robot dynamics inverse problems classical mechanics matrix algebra...

... actuators frequency response position control robot dynamics Micro Electro-Mechanical Systems (MEMS) are evolving rapidly. However, MEMS actuators are low force devices because of their small sizes, thus limiting their applicability only as sensors. To produce practical actuators, a massively...