| In this paper, we present the 3D dynamic simulation of walking gait of biped Robian II virtual manikin (25 kg weight, 1.10 m height). The biped has 16 degrees of freedom (dofs). Initially, a bio-mimetic approach is used to model a humanoid biped having 25 dofs based on common European male (75 kg, 1.78 m). Using, human being motion recording, foot/ground contact model and inverse kinematics, ...

This paper considers grasps and fixtures whose contacts react according to force-displacement laws consistent with friction constrains at the contacts. The passive force closure set of such grasps and fixtures is the set of external wrenches (forces and torques) that can act on the grasped object and be stably balanced by the contacts. An external wrench belongs to this set if it induces a feas...

Optimal grasp planning has been investigated for over two decades. Still some important weaknesses in the previous work are worthy of notice: (i) The kinematic structure and the geometric configuration of a robot hand were ignored. Fingers were assumed to be capable of contacting an object anywhere. This is unrealistic. (ii) The grasp quality criterion was general and often did not match the ta...

In our previous paper [1], we examined enhancing manipulation capabilities of cable robots by addition of base mobility to the spooling-winches. Base mobility facilitated the regulation of the tension-direction (via active repositioning of the mobile bases) and allowed for better conditioning of the wrench feasible workspace. In this paper, we explore design-modifications on the attachment to t...

INTRODUCTION [corrected] Advanced bone maturation is a radiographic feature that might be encountered in a number of different forms of skeletal dysplasias such as Desbuquois dyspalsia, Larsen syndrome, the Reunion Island form of Larsen syndrome, diastrophic dysplasia, acrodysostosis, Catel-Manzke syndrome, a variant of metatropic dysplasia and Maroteaux-lamy syndrome. CASE PRESENTATION We re...

This paper presents a theoretical study on omnidirectional aerial vehicles with body-frame fixed unidirectional thrusters. Omniplus multi-rotor designs are defined as the ones that allow to exert a total wrench in any direction using positiveonly lift force and drag moment (i.e., positive rotational speed) for each rotor blade. Algebraic conditions for a design to be omniplus are derived, a sim...

In this paper, a technique to generate the wrench-closure workspace for general case completely restrained cable driven parallel mechanisms is proposed. Existing methods can be classified as either numerically or analytically based approaches. Numerical techniques exhaustively sample the task space, which can be inaccurate due to discretisation and is computationally expensive. In comparison, a...

The replication of a genome is a fundamental biological process that every organism must perform in order to transmit its genetic makeup to its progeny. We have been studying the molecular machines that are used to rapidly and accurately replicate the DNA genome of bacteria. In addition to the polymerase (the actual copying machine), organisms have a set of assemblies that enable the polymerase...