In this paper standing balance control of a biped with toe-joint is presented. The model consists of an inverted pendulum as the upper body and the foot contains toe-joint. The biped is actuated by two torques at ankle-joint and toe-joint to regulate the upper body in upright position. To model the interaction between foot and the ground, configuration constraints are defined and utilized. To s...

This work studies a stabilization problem of flapping-wing flying robots (FWFRs) before take-off phase while robot is on branch. The claw the FWFR grasps branch with enough friction to hold system steady in stationary condition. Before take-off, opens itself and between vanishes. At that moment, mechanical model turns into an under-actuated multi-link (serial configuration) robotic where first ...

In this paper we present a mathematical model for the dynamics of an electrostatically actuated micro-cantilever. For the common case of cantilevers excited by a periodic voltage, we show that the underlying linearized dynamics are those of a periodic system described by a Mathieu equation. We present experimental results that confirm the validity of the model, and in particular illustrate that...

In this paper, experimental study of robust control for robot manipulator actuated by pneumatic artificial muscles was realized. The experimented controller belonged to the class of variable structure systems which is called nonsingular terminal sliding mode (NTSM). The control approach is based on the time delay estimation method. First, the nonsingular terminal sliding mode control approach w...

Numerical state-dependent Riccati equation based integrated guidance-control formulation is developed for an internally actuated missile. The dynamic system under consideration is of tenth order, making it tedious to algebraically manipulate the equations of motion into the state-dependent coefficient form central to the design methodology. A numerical approach based on previous research is dev...