This paper presents an admittance controller based on the passivity theory for a powered
upper-limb exoskeleton robot, which is governed by the nonlinear equation of motion …

We propose a micro geared ultrasonic motor, the smallest set of a micro ultrasonic motor
and micro planetary gear. Our micro ultrasonic motor is one of the most powerful motors in …

Purpose. Complex study of the dynamic processes of positioning of spatial systems with
defining their characteristic parameters and developing recommendations on increasing the …

This paper has two aims; the first, to present the design of a three-level average controller
(that do not require electromechanical sensors) for the trajectory tracking task in a differential …

A biped dynamic walker with two legs and two feet capable of walking in double support
phase and allowing starting the gait cycle from rest position is proposed. The walker is …

Bipedal robots are the humanoid robots and now a days they are the gems of industries as
well as other fields. Still bipedal robots are suffering from sort of locomotion problems as …

This paper presents a robust biped dynamic walker based on the virtual slope, which
introduces the driving force in the walking direction. Virtual passive dynamic walker as a …

Purpose. Determination of the location of a robotic complex and an object being
manipulated. Methodology. The applied theoretical methods are based on the solution of the …

This article presents experimental test results for joints used in a biomimetic bipedal robot. In
this work, magnetic resonance imaging (MRI) and computed tomography (CT) scans are …

This paper presents the design procedure of a biomechanical leg, with a passive toe joint,
which is capable of mimicking the human walking. This leg has to provide the major features …