this paper presents optimal control method to path planning of mobile robots with flexible joints. dynamic equations are derived and additional kinematic constraints are used to solve the extra dofs arose from base mobility. then with modeling the elasticity at each joint as a linear torsinal spring, the set of equations are formed. the hamiltonian function is formed and the necessary condition...

We consider planning and control problems for underactuated manipulators, a special instance of mechanical systems having fewer input commands than degrees of freedom. This class includes robots with passive joints, elastic joints, or flexible links. Structural control properties are investigated, showing that manipulators with passive joints in the absence of gravity are the most difficult to ...

With respect to the dissipation of energy through plastic deformation of joints of prefabricated wall units, the paper points out the principal importance of efficient reinforcement of the prefabricated system at its joints. The method, quality and amount of reinforcement are essential for reaching the necessary degree of joint ductility. The paper presents partial results of experimental resea...

The singular stress field which develops at the interface corner of a scarf joint between two bonded elastic solids is investigated. Depending upon the scarf angle and the material elastic properties, the singular stresses at a radial distance r from an interface corner may be expressed in the form Hrλ−1, where λ − 1 is the order of the stress singularity and H is the intensity of the singulari...

This paper presents a method to optimize the energy efficiency of walking bipedal robots by more than 80 % in a speed range from 0.3 to 2.3 m/s using elastic couplings – mechanical springs with movement speed independent parameters. The considered planar robot consists of a trunk, two two-segmented legs, two actuators in the hip joints, two actuators in the knee joints and an elastic coupling b...

The number of joints existing in the rock affects elastic modulus rock, and relationship has not been obtained. In this paper, 10 numerical models are established by simulations to study effect parallel on size modulus. research shows that there is a power function between joints, negative exponential size, their special mathematical given. paper also obtains form relationships characteristic m...

Many animals use catapult mechanisms to produce extremely rapid movements for escape or prey capture, resulting in power outputs far beyond the limits of muscle. In these catapults, muscle contraction loads elastic structures, which then recoil to release the stored energy extremely rapidly. Many arthropods employ anatomical 'catch mechanisms' to lock the joint in place during the loading perio...