This work is dedicated to the analysis of the application of active impedance control for the
realisation of three objectives simultaneously: velocity regulation in free motion, impact …

In order to enable on-purpose robotic impact tasks, predicting joint-velocity jumps is
essential to enforce controller feasibility and hardware integrity. We observe a considerable …

A virtual-decomposition-based control approach has been developed, which can
accomplish a variety of control objectives without any restriction regarding the type of …

This work reports on methods for identifying arbitrary combinations of friction, backlash and
compliance in mechanical drive mechanisms. Friction, backlash and compliance are each …

Advanced manufacturing systems are vital to the manufacturing industry. It is well known that
if a target work piece has a curved surface, then automation of the polishing process is …

When a robot system collides with environment not only the contact point but also the joints
of the robot system experience impulsive forces or moments. However analysis on the so …

Inspired by the human upper extremity, a musculoskeletal dual-arm manipulator is designed
for light machining tasks such as hammering and sawing. We claim that musculoskeletal …

This letter presents the advantages of human-like closed-chain architecture through the
analytical computation of internal impulses experienced at joints and external impulses felt …

This paper deals with the trajectory planning of a soccer ball driven by a kicking robot. The
trajectory of a ball is function of its initial velocity, launch angle, and some aerodynamic …

In order to exert a large force on the environment, it is effective to apply impulsive force. We
describe the motions that perform tasks by applying impulsive force as “impact motion.” In …