Results 161 to 170 of about 2,057 (208)

Dexterity of underactuated manipulators

1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97, 2002
The dexterity of a manipulator with passive joints, also known as an underactuated manipulator, differs from the dexterity of a fully actuated one, even if their mechanical structures are identical. Therefore, for fault tolerance and energy saving purposes, it is important to study the dexterity of underactuated manipulators.
M. Bergerman, null Yangsheng Xu
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On Singular Perturbations of Unstable Underactuated Mechanical Systems With Underactuation Degree ≥ 1

IFAC Proceedings Volumes, 2008
Abstract 10 years ago, K.J. Astrom proposed that the essence of the complex control problem originated by the joint of the pilot–&–aircraft can be captured on labs, by means of unstable underactuated mechanical systems. Thus, the unactuated part describes the autonomous aircraft dynamics and the actuated the piloted one.
J.Á. Acosta, M. López-Martínez
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Underactuated Cooperative Manipulators

2011
In this chapter we present control strategies for cooperative manipulators with passive joints. These systems differ from the ones presented earlier because, here, one must control not only the position of the common load being manipulated by the various robots, but also the internal forces in the object to ensure it will not be damaged during the ...
Adriano A. G. Siqueira, Marco H. Terra, Marcel Bergerman   +2 more
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Underactuated Robot Manipulators

2011
In this chapter we present the application of the \({\mathcal{H}}_{\infty}\) and adaptive \({\mathcal{H}}_{\infty}\) control methodologies to underactuated robotic manipulators, or manipulators with more joints than actuators. We begin by presenting a taxonomy to classify the different types of underactuation.
Adriano A. G. Siqueira, Marco H. Terra, Marcel Bergerman   +2 more
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Dynamic underactuated nonprehensile manipulation

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96, 2002
By exploiting centrifugal and Coriolis forces, simple, low-degree-of-freedom robots can control objects with more degrees-of-freedom. For example, by allowing the object to roll and slip, a one-degree-of-freedom revolute robot can take a planar object to a full-dimensional subset of its state space.
K.M. Lynch, M.T. Mason
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Gripping Analysis of an Underactuated Finger

2015
The paper presents a theoretical study about the gripping of an underactuated tendon driver finger. The studies presented in the paper have been performed to analyse the capability of the proposed device to apply forces on the grasped object and to analyse the behaviour of the contact actions during the grasping.
PENTA, FRANCESCO, ROSSI, CESARE, SAVINO, Sergio   +2 more
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Attitude Control of Underactuated Spacecraft

European Journal of Control, 1999
zbMATH Open Web Interface contents unavailable due to conflicting licenses.
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Stability of an underactuated bipedal gait

Biosystems, 2007
A self-excited biped walking mechanism consisting of two legs that are connected in series at the hip joint through a servomotor is studied as a cyclic system with collisions. A torque proportional to angle between the shank of the swinging leg and the vertical is seen to sustain a gait.
S, Mukherjee, V, Sangwan, A, Taneja, B, Seth   +3 more
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Underactuated mechanical systems

2005
In this chapter we discuss the control of underactuated mechanical systems. Underactuated mechanical systems have fewer control inputs than degrees of freedom and arise in applications, such as space and undersea robots, mobile robots, flexible robots, walking, branchiating, and gymnastic robots.
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Actuability of Underactuated Manipulators

1994
Abstract : In this paper we study underactuated manipulator systems, which are composed of both active and passive joints. The study of underactuated systems is interesting for a variety of applications including space robots, hyperredundant robots, and mobile robots.
Yangsheng Xu, Christopher Lee
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