Results 41 to 50 of about 2,057 (208)
Asymptotic Stabilizability of Underactuated Hamiltonian Systems With Two Degrees of Freedom [PDF]
, 2019 For an underactuated (simple) Hamiltonian system with two degrees of freedom and one degree of underactuation, a rather general condition that ensures its stabilizability, by means of the existence of a (simple) Lyapunov function, was found in a recent ...
Grillo, Sergio +2 more
core +2 more sources
One-Shot 3D Printed Underactuated Gripper [PDF]
, 2020 Underactuated gripping mechanisms allow a wide range of objects to be grasped, with relatively simple control and input. Current 3D printed underactuated grippers are often composed of multiple parts that need assembly before use. Consolidating many of these parts allows the gripper to be manufactured more quickly for less money, and allows custom ...
Jordan Cormack +3 more
openaire +1 more source
Adaptive control of underactuated planar pronking
2022 9th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), 2022 Underactuated legged robots depict highly nonlinear and complex dynamical behaviors that create significant challenges in accurately modeling system dynamics using both first principles and system identification approaches. Hence, the design of stabilizing controllers becomes more challenging due to inaccurate modeling.
Er, Guner Dilsad, Ankarali, Mustafa Mert
openaire +2 more sources
Hard‐Magnetic Soft Millirobots in Underactuated Systems
Advanced Robotics Research, EarlyView.This review provides a comprehensive overview of hard‐magnetic soft millirobots in underactuated systems. It examines key advances in structural design, physics‐informed modeling, and control strategies, while highlighting the interplay among these domains.
Qiong Wang +4 more
wiley +1 more source
A novel design process of low cost 3D printed ambidextrous finger designed for an ambidextrous robotic hand [PDF]
, 2015 This paper presents the novel mechanical design of an ambidextrous finger specifically designed for an ambidextrous anthropomorphic robotic hand actuated by pneumatic artificial muscles.
Akyürek, E +9 more
core
Simultaneous Inversion for Underactuated Mechanical Systems with Servo‐Constraints
Proceedings in Applied Mathematics and Mechanics, Volume 26, Issue 2, June 2026.ABSTRACT The dynamic inversion of underactuated mechanical systems can be formulated in the servo‐constraint framework using a set of differential‐algebraic equations (DAEs). In case of a high differentiation index, the inversion‐based feedforward control design poses significant challenges.
Tengman Wang
wiley +1 more source
Exponentially Stabilizing Controllers for Multi-Contact 3D Bipedal Locomotion [PDF]
, 2018 Models of bipedal walking are hybrid with continuous-time phases representing the Lagrangian stance dynamics and discrete-time transitions representing the impact of the swing leg with the walking surface.
chevallereau +9 more
core +1 more source
Virtual and rapid prototyping of an underactuated space end effector [PDF]
, 2017 A fast and reliable verification of an initial concept is an important need in the field of mechatronics. Usually, the steps for a successful design require multiple iterations involving a sequence of design phases-the initial one and several ...
Gasbarri, Paolo +3 more
core
Differential-Flatness and Control of Quadrotor(s) with a Payload Suspended through Flexible Cable(s)
, 2017 We present the coordinate-free dynamics of three different quadrotor systems : (a) single quadrotor with a point-mass payload suspended through a flexible cable; (b) multiple quadrotors with a shared point-mass payload suspended through flexible cables ...
Kotaru, Prasanth +2 more
core +1 more source
Kinematic design of a finger abduction mechanism for an anthropomorphic robotic hand [PDF]
, 2011 This paper presents the kinematic design of an abduction mechanism for the fingers of an underactuated anthropomorphic robotic hand. This mechanism will enhance the range of feasible grasps of the underactuated hand without significantly increasing its ...
C. Gosselin, L.-A. A. Demers
core +1 more source