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...

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...

Supercritical bending of a rod compressed by longitudinal force and having non-linearly elastic resistance to rotation its axis in hinged supports is considered. Hooke's law adopted for the material. The deflection presented as trigonometric series, which only first three terms are left. Through this row, angle inclination expressed. It chosen desired function, with respect resolving nonlinear ...