Related papers: Kinematic & Dynamic Analysis of the Human Upper Li…
Crawling is a common locomotion mechanism in soft robots and nonskeletal animals. In this work we propose modeling soft-robotic legged locomotion by approximating it with an equivalent articulated robot with elastic joints. For concreteness…
In this paper the problem of matching Forward Kinematics (FK) motion of a 3 Dimensional (3D) joint chain to the Inverse Kinematics (IK) movement and vice versa has been addressed. The problem lies at the heart of animating a 3D character…
An irreversible thermodynamical theory of solids is presented where the kinematic quantities are defined in an automatically objective way. Namely, auxiliary elements like reference frame, reference time and reference configuration are…
We propose an effective method for solving the inverse kinematic problem of a specific model of 6-degree-of-freedom (6-DOF) robot manipulator using computer algebra. It is known that when the rotation axes of three consecutive rotational…
New method of analysing the free and heavy symmetric tops using Euler's equations to perform extraction from the body frame to the lab frame. Subsequent to extraction, the lab frame equations are solved by space phasor method.
Exterior calculus and moving frames are used to describe curved elastic shells. The kinematics follow from the Lie-derivative on forms whereas the dynamics via stress-forms.
The theory of screws clarifies many analogies between apparently unrelated notions in mechanics, including the duality between forces and angular velocities. It is known that the real 6-dimensional space of screws can be endowed with an…
The upper limb of the body is a vital for various kind of activities for human. The complete or partial loss of the upper limb would lead to a significant impact on daily activities of the amputees. EMG carries important information of…
Ankle push-off largely contributes to limb energy generation in human walking, leading to smoother and more efficient locomotion. Providing this net positive work to an amputee requires an active prosthesis, but has the potential to enable…
Life mechanics, an emerging field, focuses on the self-organizing forces and motions within living systems. This study introduces the novel concept of active force, generated by mind-body interactions, as an essential element in…
Mobile manipulators are finding use in numerous practical applications. The current issues with mobile manipulation are the large state space owing to the mobile base and the challenge of modeling high degree of freedom systems. It is…
A hyper-redundant robotic arm is a manipulator with many degrees of freedom, capable of executing tasks in cluttered environments where robotic arms with fewer degrees of freedom are unable to operate. This paper introduces a new method for…
We investigate the nonuniform motion of a straight screw dislocation in infinite media in the framework of the translational gauge theory of dislocations. The equations of motion are derived for an arbitrary moving screw dislocation. The…
Continuum arms, such as trunk and tentacle robots, lie between the two extremities of rigid and soft robots and promise to capture the best of both worlds in terms of manipulability, dexterity, and compliance. This paper proposes a new…
Soft elastic filaments that can be stretched, bent and twisted exhibit a range of topologically and geometrically complex morphologies that include plectonemes, solenoids, knot-like and braid-like structures. We combine numerical…
Partial-assistance exoskeletons hold significant potential for gait rehabilitation by promoting active participation during (re)learning of normative walking patterns. Typically, the control of interaction torques in partial-assistance…
We present a mixed method for the linearized elasticity equations with independent approximation of the curl of the displacements. The curl can be seen as a drilling degree of freedom allowing for coupling with rotating objects and the…
Unsteady Lifting-Line Theory (ULLT) is a low order method capable of modeling interacting unsteady and finite wing effects at low computational cost. Most formulations of the method assume inviscid flow and small amplitudes. Whilst these…
Nonlinear contraction theory is a comparatively recent dynamic control system design tool based on an exact differential analysis of convergence, in essence converting a nonlinear stability problem into a linear time-varying stability…
Passive elastic elements can contribute to stability, energetic efficiency, and impact absorption in both biological and robotic systems. They also add dynamical complexity which makes them more challenging to model and control. The impact…