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The CyberWalk is a large size 2D omni-directional platform that allows unconstrained locomotion possibilities to a walking user for VR exploration. In this paper we present the motion control design for the platform, which has been developed within the homonymous European research project. The objective is to compensate the intentional motion of the user, so as to keep her/him always close to the...
We present a modified recursive Newton-Euler method for computing some dynamic expressions that arise in two problems of fault detection and control of serial robot manipulators, and which cannot be evaluated numerically using the standard method. The two motivating problems are: i) the computation of the residual vector that allows accurate detection of actuator faults or unexpected collisions using...
A planar topology of multifunctional C-X band wide-scan array is analyzed, based on the class of the aperture-coupled stacked patches. Performance is aimed at achieving both wide-band and wide-scan capabilities. The theoretical and the technological aspects that affect correct design and effective realization of the array structure are addressed. In particular, possible improvements of the active...
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