... structures combining serial and parallel components may offer advantages, leveraging the large reachable space of serial elements and the rigidity of parallel components for enhanced accuracy. Given the challenges in developing a comprehensive method for kinematic design and dynamic analysis of hybrid robots...

..., providing critical insights into their interaction dynamics with the human body. To accurately quantify the human–robot interaction forces, a series of experiments were conducted using the rehabilitation robot previously introduced. To minimize measurement bias and ensure the validity of the results...

... of polynomial equations. See Refs. [ 5 – 8 ] for more on the classical theory of rigid mechanisms and kinematics. compliant mechanisms and robots kinematics dynamics control of mechanical systems mechanism synthesis and analysis parallel robots theoretical and computational kinematics 26...

... involves learning the dynamics of the hybrid arm operating at 4 H z and leveraging it to generate optimal trajectories that serve as expert data to learn a control policy. We performed an extensive evaluation of the policy on a physical hybrid arm capable of jointly controlling rigid and soft actuation. We...

.... To achieve smooth control of the flexible exoskeleton, a hardware control system based on STM32 is constructed. The study establishes the theoretical dynamics model and motion characteristic equations for the soft exoskeleton. To minimize assistive errors, a control strategy is designed based...

... kinematic quantities dual numbers robots and mechanisms kinematics dynamics and control of mechanical systems mechanism synthesis and analysis mechanisms and robots theoretical and computational kinematics References [1] Hartenberg , R. S. , and Denavit , J. , 1964...

...Thibault Garcia; Didier Rémond; Simon Chesné Cable-driven parallel robots (CDPRs) are well appreciated for high dynamics applications, due to their lightweights moving parts. Nevertheless, due to the low stiffness of cables, vibrations can occur and can degrade performances if high precision...

... is dedicated to the research of control algorithms for the exoskeleton system. A sliding mode controller is designed based on the dynamic characteristics of the exoskeleton and further optimized through fine-tuned reaching law, ensuring a smoother convergence toward the stable equilibrium point...

... control of the TSM is challenging due to its shape-dependent deformation and force generation, highlighting the need to address shape variations in dynamic environments where direct measurement is impractical. This article introduces a novel methodology leveraging the concept of the equivalent circle...

... and robots kinematics dynamics control of mechanical systems mechanisms and robots parallel robots theoretical and computational kinematics Continuum robots dominantly comprise highly flexible slender elements especially tubes [ 1 , 2 ]. Typical examples are multisegment flexible structures [ 3...

... kinematics dynamics and control of mechanical systems mechanisms and robots motion and manipulation planning Singapore University of Technology and Design 10.13039/501100007040 RTDST230617 In recent years, legged robots’ capabilities have increased significantly [ 1 – 3 ]. Now...

... closure method because of the gripping force dynamics. The leader robot is applying a gripping force due to the velocity difference between the robots. This gap is higher in the force closure method. The orientations of the robots are the same for both methods as they are adjusted directly toward...

.... Therefore, having a fully articulated arm on top of a legged robot is kinematically redundant. Fig. 1 State-of-the-art six-DoF robotic arm mounted on Boston Dynamics Spot. The arm weighs 8 kg and, when mounted on Spot in, can only lift 25% of the total platform weight. State-of-the-art six-DoF...

... kinematic criteria moment-based method industrial robots data-enabled analysis of mechanical systems and robots kinematics dynamics and control of mechanical systems mechanisms and robots multi-robot systems National Natural Science Foundation of China 10.13039/501100001809 Grant Nos...

... kinematics dynamics and control of mechanical systems mechanisms and robots soft robots In contrast to traditional robots composed of rigid links, continuum manipulators consist of elastic or soft structures with significant deformation capabilities that enable versatile manipulator motion...

...Sunil Gora; Shakti S. Gupta; Ashish Dutta Gait generation of a humanoid robot on a deformable terrain is a complex problem as the foot and terrain interaction and terrain deformation have to be included in the dynamics. To simplify the dynamics of walk on deformable terrain, we used a spherical...

... investigated the same thing, but for the dynamic case of a quadrupedal system during locomotion. Therefore a PD controller was used, K p was the independent variable, and it was defined at the initialization of each simulation. For all simulations K d = 3 . No other joints were actively...

...A. Ghoul; S. Djeffal; H. Wang; K. Kara; M. L. Hadjili This paper tackles the challenges encountered in surgical continuum robotics by introducing a dynamic model tailored for a cable-driven continuum robot. The intricacies of dynamic modeling and control frequently lead to suboptimal outcomes...

.... The dynamics model of the overall system is then derived, and a sensitivity analysis is performed over a finite number of different trajectories, in order to evaluate the quasi-static assumption, the effects of the model, and the influence of the elastic constraint. Finally, experiments have been performed...

.... Second, the kinematics of the new deployable mast mechanism is established based on its structural symmetry and modular features. Third, the deploying dynamics of the new mechanism are built based on the Lagrange equation. Fourth, the deployed/folded ratio, interference, and singularity of the new...