This paper aims to propose an underactuated model of walking in bipeds in order to make a comparison with a biomechanical analysis. This study begins explaining some relevant concepts of underactuated mechanisms, and it shows some advances in this field. Then, a human body model and a simulation frame are created in a dynamic environment like SimMechanics from Matlab for performing bipedal gait...

A hybrid learning procedure referred to as adaptive neuro fuzzy inference system (ANFIS) is applied to an artificial leg model to generate the correct positions of the servomotors actuating the leg joints. One of the most important control problems of mechanical arms and legs is the efficient calculation of correct joint angles for a space trajectory. Although this application represents the si...

Competition in marketplace requires manufacturers to develop their products in shorter turn-around times. This encourages engineers and researchers to devise methodologies to respond to this market-driven requirement. Rapid prototyping is one solution to produce a design in minimum amount of time. In this paper we focus on rapid prototyping of robots. For this purpose, development of the robot ...

This paper starts with developing kinematic and dynamic model of a snake shape robot in serpentine locomotion and finishes with actual experimentation. At the beginning the symmetrical and unsymmetrical serpenoid curves are introduced. Kinematics and dynamics of a snake robot on flat and inclined surfaces are obtained for a general n-link robot. SimMechanics toolbox of MATLAB software is employ...

In this research, as the main contribution, a comprehensive study is carried out on the mathematical modeling and analysis of the inverse kinematics and dynamics of an over-constraint three translational degree-of-freedom parallel manipulator. Due to the inconsistency between the number of equations and unknowns, the problem of obtaining the constraint forces and torques of an over-constraint m...

this article presents an implementation of a reinforcement learning (rl) method for a snake like robot navigation. the paper starts with developing kinematics and dynamics model of a snake robot in serpentine locomotion followed by performing simulation and finishes with actual experimentation. first, gibbs-appell's method is used to obtain the robot dynamics. the robot is also modeled in simme...

Airbag deployment has been known to be responsible for huge death, incidental injuries and broken bones due to low crash severity and wrong deployment decisions. Therefore, the authorities and industries have been looking for more innovative and intelligent products to be realized for future enhancements in the vehicle safety systems (VSSs). Although the VSSs technologies have advanced consider...