This work presents an approach to simultaneously but independently control the compliance of a robotic system transversal and tangential to a given path. A subordinate path following controller transforms the nonlinear dynamics into a linear system with decoupled transversal and tangential dynamics via a coordinate transformation and an exact input-output linearization. The outer control loop u...

A disastrous form of pedestrian behavior is a stampede occurring in an event involving a large crowd in a panic situation. To deal with such stampedes, the possibility to increase the outflow by suitably placing a pillar or some other shaped obstacles in front of the exit has been demonstrated. We present a social force based genetic algorithm to optimize the best design of architectural entiti...

We propose a direct method for solving the evolution of plane curves satisfying the geometric equation v= β(x, k, ν) where v is the normal velocity, k and ν are the curvature and tangential angle of a plane curve Γ ⊂ R2 at a point x ∈ Γ . We derive and analyze the governing system of partial differential equations for the curvature, tangential angle, local length and position vector of an evolv...

In this paper, we propose a method of controlling a deburring flexible manipulators. All of the analysis in the paper are under the curved coordinates. The goal of the automated deburring is to remove the burrs at a constant tangential cutting force. Therefore, maintaining a constant contact normal force and constant tangential cutting force is required. The dynamics of both the deburring proce...

The purpose of this study was to quantify the effects of five distinct slopes on spatiotemporal and pushrim kinetic measures at the nondominant upper limb during manual wheelchair (MWC) propulsion on a motorized treadmill in individuals with spinal cord injury (SCI). Eighteen participants with SCI propelled their MWC at a self-selected natural speed on a treadmill at different slopes (0, 2.7, 3...

A model that has been shown to give very accurate predictions of dynamic forces between deformable emulsion drops and bubbles is used to quantify the effects of internal flow and viscosity ratio on the hydrodynamic interaction in such systems. The results demonstrate that direct force measurement using an atomic force microscope can readily differentiate whether the interfaces of drops of diffe...

Tactile feedback is among haptics one of the more recent modalities for human-system interaction. Research in tactile feedback using pin-array type actuators has been going on during the past years or so. A survey about technological achievements, human sensing capabilities, and psychophysical evaluation in this area is presented. Then the focus is on novel approaches in actuator technology and...

The quasi-static mechanical response of grains under cyclic loading is studied in this contribution by means of a three-dimensional Molecular Dynamics scheme. The response of the system is characterized by an accumulation of plastic deformation with the number of cycles. For the deviatoric stress and strain, a quasi-periodic ratchet-like behavior is observed. Results are presented for different...

The problem of door opening is fundamental for robots operating in domestic environments. Since these environments are generally less structured than industrial environments, several types of uncertainties associated with the dynamics and kinematics of a door must be dealt with to achieve successful opening. This paper proposes a method that can open doors without prior knowledge of the door ki...

*Correspondence: [email protected] 1Laboratoire de Physique, Université de Lyon, Ecole Normale Supérieure de Lyon, CNRS, 46 Allée d’Italie, 69007 Lyon, France Abstract We report on an experimental device that makes it possible to assess the frictional properties of the contact between a slider and a horizontal surface, and to study the resulting trajectories of the slider whe...