Bearings are common rotational units, but these monocentric units do not realize high bio-imitability in exoskeleton robots. A way to bionic motion is with an n-bar linkage mechanism within bearings, the resultant joints can become complex. Herein, we propose a joint model based on anatomy of grasshopper that consists pair conjugate surfaces and flexible connection body. An anatomical experimen...

This paper employs nonlinear disturbance observer (NDO) for robust trajectory-free Nonlinear Model Predictive Control (NMPC) of biped robots. The NDO is used to reject the additive disturbances caused by parameter uncertainties, unmodeled dynamics, joints friction, and external slow-varying forces acting on the biped robots. In contrary to the slow-varying disturbances, handling sudden pushing ...

We consider the problem of automatically designing model-based controllers of modular robot manipulators in a systematic way. Modular robots are especially useful in flexible manufacturing, where one wishes to quickly assemble robots from a set of modules for temporary tasks. The evaluation of all possible dynamical models is typically impractical, undermining the implementation of model-based ...

this paper focuses on the effects of closed- control on the calculation of the dynamic load carrying capacity (dlcc) for mobile-base flexible-link manipulators. in previously proposed methods in the literature of dlcc calculation in flexible robots, an open-loop control scheme is assumed, whereas in reality, robot control is achieved via closed loop approaches which could render the calculated ...

The increasing intelligence and autonomy of modern robot systems requires new and powerful man-machine-interfaces. For example, a robot' s capability to autonomously recover from error situations corresponds with dynamic adjustments of robot plans during execution. This makes it difficult for an operator to predict and understand the behaviour of the machine. Explanations and descriptions of wh...

In this paper, the redundancy resolution methods for elastic joint redundant robots are researched. First, a redundancy resolution method called MD method is proposed by using joint elastic deflection as a performance index. And then, the influence of robots’ initial configuration on this method is discussed. Finally, simulations for a planar 3R redundant robot with elastic joints are conducted...