Zainah Md. Zain, Keigo Watanabe, Kiyotaka Izumi & Isaku Nagai 1 Department of Intelligent Mechanical Systems, Division of Industrial Innovation Sciences, Graduate School of Natural Science and Technology, Okayama University, 3-1-1 Tsushima-naka, Kita-ku, Okayama, 7008530, Japan. 2 Department of Mechanical Engineering, Graduate School of Science and Engineering, Saga University, Honjomachi, Saga...

This paper is devoted to a stability study of a walking gait for a biped. The walking gait is periodic and it is composed of a single-support phase, a passive impact, and a double-support phase. The reference trajectories are described as a function of the shin orientation versus the ground of the stance leg. We use the Poincaré map to study the stability of the walking gait of the biped. We on...

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 Poincaré map associated with periodic walking gaits. A stable gait is designed by an optimization process satisfying physical constraints and stability conditions. Also, considering...

We establish a structure preserving state and input transformation that allows class of underactuated Euler Lagrange systems to be treated as “quasi-fully” actuated. In this equivalent quasi-fully actuated form, the system is characterized by same Lagrangian original one. This facilitates design control approaches take into account underlying physics shape dynamics minimum extent. Due smoothnes...

In this letter, we aim to improve the robustness of dynamic quadrupedal locomotion through two aspects: 1) fast model predictive foothold planning, and 2) applying LQR projected inverse control for robust motion tracking. our proposed planning framework, plans are updated at 400 Hz considering current robot state an controller generates optimal feedback gains The gain matrix with non-zero off-d...

Interconnection and damping assignment passivity-based control scheme has been used to stabilize many physical systems such as underactuated mechanical through total energy shaping. In this method, some partial differential equations (PDEs) related kinetic potential shaping shall be solved analytically. Finding a suitable desired inertia matrix the solution of nonlinear PDEs relevant is challen...

This paper presents the design of an anthropomorphic robotic hand of low-budget, achieving basic grasps similar to the human hand. The hand has an anthropomorphic design with 16 degrees of freedom (DOFs). With 14 Mckibben style pneumatic air muscles (PAM) implemented as the power actuator of the tendon-driven fingers, the actuator offers the robotic hand a compliant, soft grasp for manipulating...

Exploiting unique features of nonholonomic systems, innovative and advantageous mechanisms can be designed. We have proposed a nonholonomic manipulator which is a controllable n joint manipulator with only two actuators. In order to create its nonholonomic constraint, a special type of velocity transmission, called the nonholonomic gear, was developed. There are many possible alternatives for d...

We provide stabilizing feedback control laws for the kinematic system of an underactuated axisymmetric spacecraft subject to input constraints. The proposed control law forces all closed-loop trajectories in a region of the state space where the control inputs are small and bounded. The control law is subsequently extended to solve the case of attitude tracking for an underactuated spacecraft u...