of quantitative configuration analysis and planning methods. The applications of the proposed framework are demonstrated through simulation examples which involve inferring constrained instantaneous configurations as well as coupler curves for compliant motion planning and deriving collision-free paths for open

, the design of most hopping or running robots is based on compliant legs which exhibit quite natural behavior during locomotion. Here we ask to what extent spring-like leg behavior could be useful in unifying locomotion models for walking and running. In so doing, we com-bine biomechanical experimental

for the main task we create an automated vision calibration task to be able to calcu-late the needed transformations between all setup components. As a first step towards hitting the ball we use a simplified approach of modeling the ball’s movement with the equations of a spherical pendulum and solve standard

trajectories, net muscle torques and EMG patterns when subjects performed voluntary elbow flexions against different compliant loads. Subjects made movements in a single-joint manipulandum with different loads generated by a torque motor. Some series of movements were p formed under entirely known

This chapter discusses the advantages and feasibility of using compliant actuators in exoskeletons. We designed compliant actuation for use in a gait rehabilitation robot. In such a gait rehabilitation robot large forces are required to support the patient. In case of post-stroke patients only

Abstract—Mobile robots that operate in a shared environment with humans need the ability to predict the movements of people to better plan their navigation actions. In this paper, we present a novel approach to predict the movements of pedestrians. Our method reasons about entire trajectories

Abstract — Need for increased accuracy and precision in nano/micro movements and other devices (e.g. electronic, microscopy, medical etc.) has led to the development of allied technologies. The performance of these precision devices depends heavily upon accurate micro positioning of various links

-foot system. Our analyses show that compliant joints not only reduce impactive forces, but also induce smoother joint trajectories. Further, by employing a compliant foot, a higher energy efficiency for the movement is achieved.

the development and the optimization of a compliant clamp in accuracy high required robotic mechanisms. In this research, a compliant clamp is developed based on flexure hinges to offer the flexibility of movement. Firstly, Solidwork software is used to create a compliant clamp model. Next, a finite element

to generate movement without any hinge; therefore, it is suitable for MEMS manufacture. The design of micro-gripper is accomplished in compliant mechanism with topology optimum and solved by sequential linear programming (SLP) methods. The design considerations, the analysis method, and the design results