There are many occasions where the base of a robotic manipulator is attached to a moving platform, such as on a moving ship, terrain or space shuttle. In this paper a dynamic model of a robotic manipulator mounted on a moving base is derived using both Newton-Euler and Lagrange-Euler methods. The presented models are simulated for a Mitsubishi PA10-6CE robotic manipulator characteristics mounte...

In this paper, two new methods for computation of the inertia matrix of robot manipulators are proposed. The new algorithms are based on a block diagram of manipulator dynamics, derived from the Newton-Euler formulation. The proposed methods allows to compute the inertia matrix explicitly, in an efficient recursive manner, and can be applied for robot dynamics simulation.

In this paper, a new method was proposed for the navigation of a mobile robot in an unknown dynamic environment. The robot could detect only a limited radius of its surrounding with its sensors and it went on the shortest null space (SNS) toward the goal. In the case of no obstacle, SNS was a direct path from the robot to goal; however, in the presence of obstacles, SNS was a space around the r...

A method of running pattern generation for a humanoid robot using the dynamics of a simple inverted pendulum is proposed. Dynamic simulation using a model of an actual humanoid robot shows that the robot can run by applying a generated pattern with slight modifications. The simulation is used to evaluate the required performance of actuators for an actual running robot.

Legged robots are expected to locomote autonomously in an uncertain and potentially dynamically changing environment. Active interaction with contacts becomes inevitable to move and apply forces in a goal directed way and withstand unpredicted changes in the environment. Therefore, we need to design algorithms that exploit interaction forces and generate desired motions of the robot leading to ...

In this paper, the issue of control of impact forces generated during the interaction between the hopping robot toe and the ground during landing has been considered. The force thus generated can damage the robot altogether. With the objective to control these impact forces impedance control strategy has been applied to the hopping robot system. The dynamics pertaining to the impact between rob...