The paper introduces the Switching Four-bar Mechanism (sfm), a new low-dimensional kinematic abstraction forminiature legged robots, aimed at quasi-static motion planning in the horizontal plane. The model comprises a rigid torso and four rigid legs which engage in an alternating tetrapod gait. As the gait is executed, the torso and the legs form two switching four-bar linkages, parameterized b...

Fig. 1 V-bar, R-bar and Fly-by Approach Existing orbital transfer vehicles such as US Space Shuttles, Progress and Japanese H-IIA Transfer Vehicle (HTV) use a straight path approach to the International Space Station (ISS). The straight path approach has many advantages and is suitable for stable targets such as ISS and three-axis attitude-controlled satellites. However, for satellite capture m...

gait rehabilitation using body weight support on a treadmill is a recommended rehabilitation technique for neurological injuries, such as spinal cord injury. in this paper, a new robotic orthosis is presented for treadmill training. in the presented design the criteria such as low inertia of robot components, backdrivability, high safety and degrees of freedom based on human walking are conside...

in this paper, stability analysis of walking gaits and robustness analysis are developed for a five-link and four-actuator biped robot. stability conditions are derived by studying unactuated dynamics and using the poincarã© map associated with periodic walking gaits. a stable gait is designed by an optimization process satisfying physical constraints and stability conditions. also, considering...

This work describes the development of the GRANIT parallel-kinematic robot. The robot endorses a multifunctional end effector, a stiff and precise device aimed at the assembly of heating coils for hairdryers. Such assembly task require repeatability and releability, therefore we developed a custom manipulator which has 4 degrees of freedom like a SCARA robot, although offering a superior rigidi...

Eleven patients were reviewed an average of 23 years after they had been treated by excision of a symptomatic calcaneonavicular bar in 16 of their feet. Of these feet 69% (11 feet) had a good or excellent result. Of the five failures, three feet had good results after subsequent triple arthrodesis, but two treated by repeated excision of the bar were still unsatisfactory. Beaking of the talus s...