The under-actuated foot rotation that the heel of the stance leg lifts off the ground and the body rotates around the stance toe is an important feature in human walking. However, it is absent in the realized walking gait for the majority of biped robots because of the difficulty and complexity in the control it brings about. In this paper, a hybrid control approach aiming to integrate the main...

This paper deals with the design of a control strategy that combines a nonlinear observer and a partial feedback linearization controller to stabilize the periodic orbits of an under-actuated three link biped robot. We show first that passive dynamics (non-actuated coordinates) can be linearized and decoupled from the rest of the system by applying a nonlinear feedback. Then, the proposed obser...

This paper addresses the nonlinear model predictive control (MPC) for wheeled mobile robots (WMRs) under external disturbance. The decoupling technique is utilized based on non-holonomic constraint description separating WMR model. method able to achieve under-actuated kinematic sub-system without disturbance and fully-actuated dynamic in presence of Thanks technique, lumped into sub-system. no...

We propose novel distributed exponentially-converging control frameworks for flocking and centroid trajectory tracking of multiple thrust-propelled vehicles (TPVs), which consist of the under-actuated translation dynamics on E(3) with one-dimensional thrust-force input and the fully-actuated attitude kinematics on SO(3) with angular-rates inputs; and evolves on a strongly-connected, yet, balanc...

This paper shows mechanisms for artificial finger based on a planetary gear system (PGS). Using the PGS as a transmitter provides an under-actuated system for driving three joints of a finger with back-drivability that is crucial characteristics for fingers as an end-effector when it interacts with external environment. This paper also shows the artificial finger employed with the originally de...

Force–torque sensors are used in many and different domains (i.e., space, medicine, biology, etc.). Design solutions of force–torque can be conceived by using types connections or components; however, there only a few designed cable-driven systems. This could related to reasons, one which being that cables able pull not push. In this paper, new model for under-actuated sensing mechanisms is pro...

The design of a novel linkage three-phalanx finger was proposed in this paper. The finger is based on the concept of COSA (coupling and self-adaptation) and also two-phalanx COSA finger. As a combination of rigid coupled finger and self-adaptive under-actuated finger, the COSA finger has comprehensive grasping ability with human-like motion. Available topology designs were discussed in this pap...

This paper considers the stabilization problem of the Acrobot, a widely studied benchmark nonlinear under-actuated mechanical system. For such systems the design of control Law becomes a challenging task owing to complex internal dynamics and lack of feedback linearizibility. These result in need of closed form solutions for highly nonlinear equations or hybrid/switching controllers. A novel no...

In this paper we consider under-actuated, drift-free, invariant systems on matrix Lie groups and show how motion control results for nilpotent systems can be extended to invariant systems on non-nilpotent Lie groups by applying the method of nilpotentization. An algorithm for computing nilpotent approximations for invariant systems on Lie groups is presented. These approximations are used to co...