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Contact modeling plays a central role in motion planning, simulation and control of legged robots, as legged locomotion is realized through contact. The two prevailing approaches to model the contact consider rigid and compliant premise at interaction ports. Contrary to the dynamics model of legged systems with rigid contact (without impact) which is straightforward to develop, there is no consensus...
This paper focuses on a lower limb walking assistant robot. This robot has been designed and modeled for two tasks of facilitating healthy people, and assisting patients for walking. First, basic concepts of the motion mechanism are presented. Next, its kinematics and dynamics equations have been developed. Kinematics analysis has been done using Denavit-Hartenberg scheme to obtain position, velocity...
Effective dynamics modeling and control of continuum robots have been a challenge for almost a couple of decades. The most important modeling challenge is to provide a model with good precision, which can be solved numerically in a reasonable time. Specifically, it is valuable if an accurate model can be solved in real-time, in order to be used in real-time control implementations. In this paper,...
This paper suggests an approach to develop dynamics model and proposes a novel method to solve inverse dynamics of a biped robot with active toe joints. In order to obtain closed-form dynamics model, first, equations of motion are developed for the robot with no interaction. Then, consistent with constraints, unknown forces and moments are considered, using constraints relaxation method. These forces...
This paper presents a new approach to dynamics modeling of continuum robots. In this approach, continuum robots are considered as a series of circular elements. First, the dynamics of an element is modeled. Then, a method is proposed to couple dynamics of any number of elements. Hence, a continuum robot can be modeled by any desired number of circular elements. As far as the authors know, this is...
In this paper, control of an object manipulation task by a dual arm underwater vehicle–manipulator system (UVMS) is studied. The object is a heavy cylinder which should be moved and pegged precisely in an underwater structure while impacts due to contact are inevitable. The Multiple Impedance Control (MIC) is customized for this system, and the obtained results are compared with those of the augmented...
Human-Robot physical interaction is an important attribute for robots operating in human environments. A Ballbot is an under-actuated system with nonholonomic dynamic constraints. It is a skinny robot with a small base that helps the robot to move in limited space. It is as tall as human height until could interact by people whereas a Ballbot has not been equipped with a manipulator. This manipulator...
A suspended wheeled mobile robot (SWMR) that consists of one or more manipulators mounted on a mobile suspended base is expected to pass through various environmental conditions such as uneven surfaces. In this study, first a general systematic procedure for dynamics modeling of such complicated systems is presented based on iterative Newton-Euler's formulation. The presented approach can provide...
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