... , Mechanical Design of Machine Elements and Machines: A Failure Prevention Perspective , Wiley , New York . 11 12 2008 09 09 2009 09 11 2009 09 11 2009 control system synthesis elasticity electric actuators legged locomotion motion control position control springs...

... Conference on Intelligent Robots and Systems (IROS 2008) , France. 21 07 2008 07 05 2009 20 07 2009 control system synthesis legged locomotion manipulator dynamics manipulator kinematics telerobotics mobile robots tele-operative locomotion mechanisms control...

... the RCCR mechanism were investigated ( 2 3 4 5 6 7 8 9 ). The RCCR mechanism can transfer a rotational movement of two spatial perpendicular axes and is well known to be used as a shaft coupling ( 10 11 ). four-link RCCR mechanism biped mechanism legged locomotion mechanical...

.... This may be attributed to the solution converging to local minima in the high-dimension, nonconvex optimization problem. 26 06 2007 16 06 2008 21 08 2008 design engineering gait analysis legged locomotion 1 Over the past 30 years , many biped robots have...

... City, Canada, Oct., pp. 195 – 202 . 20 06 2007 29 05 2008 21 08 2008 design engineering legged locomotion manipulators optimisation cable-driven parallel mechanism design optimization locomotion interface Cable-driven parallel mechanisms have...

... condition at the ground contact points. The result is a description of how well each hexapod can accelerate its torso without causing slippage at the ground contact points. 16 02 2006 21 08 2006 legged locomotion robot dynamics design agility dynamic performance acceleration...

... stable walking patterns, can be obtained. 28 05 2004 21 07 2005 legged locomotion robot dynamics stability The walking of bipeds is the result of one of the most complex motor coordination patterns among all robotic systems. Walking patterns ensure stability of biped during...

... mechanical contact legged locomotion friction This paper addresses the determination, representation, and visualization of the contact force solution space of a multi-limbed mobile robotic system with three feet in contact with its environment. Since the limbs of the robot have enough joints...

... = { 1.997 , − 1.594 , 1.872 } F ¯ C 3 = { 0.396 , 3.830 , 4.300 } This final optimal force solution is shown to scale in Fig. 11 . The optimal solution (margin against slip criteria) 28 06 2004 24 06 2005 legged locomotion mechanical...

... legged locomotion manipulator kinematics end effectors Kinematics Position Analysis Parallel Mechanisms Parallel Structure This paper is a combined version of two papers (DETC2004-57036 and DETC2004-57037) presented at the ASME 2004 Design Engineering Technical Conferences...

... . Manuscript received Aug. 2003; rev. Jan. 2004. Associate Editor: G. R. Pennock. 01 Aug 2003 01 Jan 2004 28 10 2004 robot dynamics virtual reality legged locomotion gait analysis modelling Development of walking legged robots constitutes a big challenge for the robotics...

... Committee for publication in the JOURNAL OF MECHANICAL DESIGN . Manuscript received August 2001; revised September 2002. Associate Editor: G. S. Chirikjian. 01 August 2001 01 September 2002 11 06 2003 legged locomotion robot kinematics motion control actuators Miniature...