Force and touch feedback, or haptics, can play a significant role in the realism of virtual reality surgical simulation. While it is accepted that simulators providing haptic feedback often outperform those that do not, little is known about the degree of haptic fidelity required to achieve simulation objectives. This article evaluates the effect that employing haptic rendering with different d...

To increase reliability and decrease cost of legged robotic systems it is advantageous to limit actuated degrees of freedom and instead exploit passive elements, such as springs, to provide compliance. Although literature exists on the design and dynamical control of running gaits for such robotic systems, no work exists for slower modes of locomotion such as walking. This paper presents a walk...

The Signal Phase and Timing (SPaT) message is an important input for research applications of Connected Vehicles (CVs). However, the actuated signal controllers are not able to directly give SPaT information since influenced by both control logic real-time traffic demand. This study elaborates estimation method which proposed according idea that controller would provide similar timing states. T...

An attitude control strategy for an under-actuated spacecraft with two reaction wheels is proposed, using the active assistance of solar radiation pressure torque. By changing rotation angles panels, magnitude and direction torque assumed to be adjustable in this paper. The dynamic model a rigid panels established transformed into form non-linear system. integrated scheme based on dual-mode pre...

In this paper, we provide optimal solutions to two different (but related) input/output design problems involving large-scale linear dynamical systems, where the cost associated to each directly actuated/measured state variable can take different values, but is independent of the labeled input/output variable. Under these conditions, we first aim to determine and characterize the input/output p...

A new image-based control strategy for visual servoing of a class of under-actuated rigid body systems is presented. The proposed control design applies to “eye-in-hand” systems where the camera is fixed to a rigid body with actuated dynamics. The control design is motivated by a theoretical analysis of the dynamic equations of motion of a rigid body and exploits passivity-like properties of th...

In this paper, a new nonlinear predictive control scheme is proposed for a five-link planar under-actuated biped walking robot. The basic feature in the proposed strategy is to use on-line optimization to update the tracked trajectories in the completely controlled variables (actuated coordinates) in order to enhance the behavior and the stability of the remaining indirectly controlled ones (un...