Underactuated robotics is an emerging research direction in the field of robotics. The control
input of the underactuated robot is less than the degree of freedom of the system. It has the …

Parallel-serial (hybrid) manipulators represent robotic systems composed of kinematic
chains with parallel and serial structures. These manipulators combine the benefits of both …

The performance of traditional hydraulic robots is often limited by their hoses across moving
joints or connecting hydraulic drive units, which would reduce their mobility and impede their …

Joints' backdrivability is desired for robots that perform tasks contacting the environment, in
addition to the high torque and fast response property. The electro-hydrostatic actuator …

The very act of communicating postulates a sender and a receiver who exchange mutually
agreed upon signals through various communication channels. This prototypical situation …

The workspace denotes the work area of a robot, which is an important foundation of
designing a robot. As formulating the suitable workspace models for a robot wrist is very …

As an underactuated mechanism, the accuracy analysis of the spherical 3 degrees of
freedom (3-DOF) parallel underactuated robot wrist becomes an important issue. However …

Purpose This paper aims to develop an adaptable control architecture for electrohydraulic
humanoid robots (HYDROïD) that emulate the functionality of the human nervous system …

The space deployable mast has been successfully applied to space equipment such as
solar sails and space telescopes. At present, the deployable units of the space deployable …

For humanoid robots, design of the ankle mechanism is still open research problem since
high torque is required while compact structures have to be maintained. This paper …