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Having non-singular assembly modes changing trajectories for the 3-RPS parallel robot is a well-known feature. The only known solution for defining such trajectory is to encircle a cusp point in the joint space. In this paper, the aspects…
Modeling and control strategies for a design of an autonomous three wheeled mobile robot with front wheel steer is presented. Although, the three-wheel vehicle design with front wheel steer is common in automotive vehicles used often in…
Performing highly agile dynamic motions, such as jumping or running on uneven stepping stones has remained a challenging problem in legged robot locomotion. This paper presents a framework that combines trajectory optimization and model…
This paper presents a comprehensive methodology for modeling an on-orbit assembly mission scenario of a large flexible structure using a multi-arm robot. This methodology accounts for significant changes in inertia and flexibility…
Reconfigurable neutral-atom arrays are a promising platform for quantum computing, quantum simulation, and quantum metrology, but atom transport using frequency-chirped acousto-optic deflectors (AODs) is limited by chirp-induced acoustic…
This paper introduces a way to systematically investigate the effect of compliant prismatic spines in quadrupedal robot locomotion. We develop a novel spring-loaded lockable spine module, together with a new Spinal Compliance-Integrated…
This paper proposes a safety-critical locomotion control framework employed for legged robots exploring through infeasible path in obstacle-rich environments. Our research focus is on achieving safe and robust locomotion where robots…
In this paper, a new model based nonlinear control technique, called PID (Proportional-Integral-Derivative) type sliding surface based sliding mode control is designed using improved reaching law. To improve the performance of the second…
Everting, soft growing vine robots benefit from reduced friction with their environment, which allows them to navigate challenging terrain. Vine robots can use air pouches attached to their sides for lateral steering. However, when all…
Robotic three-dimensional (3D) ultrasound (US) imaging has been employed to overcome the drawbacks of traditional US examinations, such as high inter-operator variability and lack of repeatability. However, object movement remains a…
This paper presents a novel three-degree-of-freedom (3-DOF) translational parallel manipulator (TPM) by using a topological design method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations. The…
In this paper, we present a new model of biped locomotion which is composed of three linear pendulums (one per leg and one for the whole upper body) to describe stance, swing and torso dynamics. In addition to double support, this model has…
The sliding mode approach is recognized as an efficient tool for treating the chattering behavior in hybrid systems. However, the amplitude of chattering, by its nature, is proportional to magnitude of discontinuous control. A possible…
Shedding light on the nature of spin-triplet superconductivity has been a long-standing quest of solid-state physics since the discovery of superfluidity in liquid $^3$He. Nevertheless, the mechanism of spin-triplet pairing is much less…
The Orthoglide project aims at designing a new 3-axis machine tool for High Speed Machining. Basis kinematics is a 3 degree-of-freedom translational parallel mechanism. This basis was submitted to isotropic and manipulability constraints…
This paper demonstrates that any general 3-DOF three-legged planar parallel robot with extensible legs can change assembly modes without passing through parallel singularities (configurations where the mobile platform loses its stiffness).…
We present a new walking controller based on 3LP, a 3D model of bipedal walking that is composed of three pendulums to simulate falling, swing and torso dynamics. Taking advantage of linear equations and closed-form solutions of 3LP, the…
This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…
Climbing robots face significant challenges when navigating unstructured environments, where reliable attachment to irregular surfaces is critical. We present a novel mobile climbing robot equipped with compliant pin-array structured…
Synthesizing a stable gait that enables a quadruped robot to climb stairs is the focus of this paper. To this end, first a stable transition from initial to desired configuration is made based on the minimum number of steps and maximum use…