Orbital stabilization of an underactuated cart-pendulum system is under study. The quasihomogeneous control synthesis is utilized to design a second order sliding mode controller that drives the actuated cart to a periodic reference orbit in finite time, while the non-actuated pendulum produces bounded oscillations. A modified Van der Pol oscillator is introduced into the synthesis as an asympt...

The main focus of this paper is on the motion planning problem for an under-actuated, submerged, omni-directional autonomous vehicle. Underactuation is extremely important to consider in ocean research and exploration. Battery failure, actuator malfunction and electronic shorts are a few reasons that may cause the vehicle to loose direct control of one or more degrees-of-freedom. Underactuation...

The robotic hands can be divided into two major groups: fully-actuated and underactuated hands. In fully-actuated hands all the joints have separate motors, while in underactuated hands the number of motors is less than number of degrees of freedom. The underactuated hands can adapt to the object shape by use of their mechanical design while they have less functionality. A relationship between ...

Particle-based magnetically actuated microswimmers have the potential to act as microrobotic tools for biomedical applications. In this paper, we report the dynamic behaviors of a three-particle paramagnetic microswimmer. Actuated by a rotating magnetic field with different frequencies, the microswimmer exhibits simple rotation and propulsion. When the input frequency is below 8 Hz, it exhibits...

Biologically inspired pressure actuated cellular structures can alter their shape through pressure variations. Previous work introduced a computational framework for pressure actuated cellular structures that is limited to two cell rows and central cell corner hinges. This article rigorously extends these results by taking into account an arbitrary number of cell rows, a more complicated cell k...

One approach in the field of legged locomotion is to use theoretical models and analysis to provide basic knowledge [1]. One particular group of these models with rotary hip torque and radial leg damping has demonstrated a greater degree of robust stability and biological relevance. The previously developed Clock Torqued Spring-Loaded Inverted Pendulum [3] and Torque-Actuated Dissipative Spring...