the mouths of some bony and cartilaginous fishes are located in the anterior part of theirbodies, with a slight variation in sharks, which have theirs located in the abdominal part. thisvariation is evolutionary over time. the force exerted by the jaws of sharks in order todismember their prey can be examined from two origins: .the determined force exerted by teethand muscles and the force as a...

Cryosurgery is the destruction of undesired biological tissues by freezing. For internal organs, multiple cryoprobes are inserted into the tissue with the goal of maximizing cryoinjury within a predefined target region, while minimizing cryoinjury to the surrounding tissues. The objective of this study is to develop a computerized planning tool to determine the best locations to insert the cryo...

This paper provides a method for computing force-feasible paths on the Stewart platform. Given two configurations of the platform, the method attempts to connect them through a path that, at any point, allows the platform to counteract any external wrench lying inside a predefined six-dimensional region. In particular, the Jacobian matrix of the manipulator will be full rank along such path, so...

In this paper, we study the problem of large force/torque application using robotic systems with limited force/torque actuators. For such systems, the available workspace may be smaller than its reachable workspace. It is shown that redundancy increases the force capability and workspace of a robotic system. To plan redundant manipulator postures during force tasks, a new method based on a min-...

Automated Planning has been an active research topic for more than thirty years but only recently has it started to move in the direction of combining planning and execution to achieve what is sometimes called as Intelligent Reactive Planning. We propose Simulation-Based Planning (SBP) as a new way to perform intelligent reactive planning. SBP |unlike most other planning systems|integrates simu...

The stability of a humanoid robot is ensured by constraining its Center of Pressure (CoP) within its support polygon; using a simplified model such as the Linear Inverted Pendulum Model (LIPM) allows for a linear mapping between Center of Mass (CoM) and CoP motion. This enables the use of linear Model Predictive Control (MPC) methods to generate a CoM trajectory which realizes a desired CoP mot...

MIT students have become addicted to two new popular websites, MIT FML (http://mitfml.com/) and I Saw You MIT (http://isawyou. mit.edu/), created this past semester. Filled with anonymous, quirky, Twitter-like posts the two sites were designed to entertain, bond, and poke fun at the MIT community. “We are living in such a stressful and yet entertaining atmosphere, it would be a great idea to ha...