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ii I certify that I have read this thesis and that in my opinion it is fully adequate, in scope and in quality, as a dissertation for the degree of Doctor of Philosophy. I certify that I have read this thesis and that in my opinion it is fully adequate, in scope and in quality, as a dissertation for the degree of Doctor of Philosophy. I certify that I have(More)
This article investigates the problem of manipula-tor design for increased dynamic performance. Optimization techniques are used to determine the design parameters which improve manipulator performance. The dynamic performance of a manipulator is characterized by the inertial and acceleration properties of the end-eeector. Our study of inertial and(More)
This paper presents a multibody dynamics approach to the modeling, simulation and analysis of motor protein dynamic behavior. Usually proteins are modeled as a collection of a small number of particles, oftentimes only two particles, with spring-like connections between them. However, these simple particle models potentially omit interactions and dynamics(More)
Dynamic capability equations (DCE) provide a new description of robot acceleration and force capabilities. These refer to a manipulator's ability to accelerate its end-effector and to apply forces to the environment at the end-effector. The key features in the development of these equations are that they combine the analysis of end-effector accelerations,(More)
The study of acceleration capability is concerned with the responsiveness of a manipulator to controller commands. In this paper we present a general model for the analysis of end-eeector linear and angular accelerations that accounts for the velocity eeects. The separate treatment of linear and angular motion directly addresses the inhomogeneities of(More)
This article investigates the problem of redundant ma-nipulator design for optimal dynamic performance; speciically design of macro/mini structures. The dynamic performance of a manipulator is characterized by the inertial and acceleration properties of the end-eeector. However, for redundant manipulators the characteristics of motions in the end eeector(More)
In this investigation a robotic system's dynamic performance is optimized for high reliability under uncertainty. The dynamic capability equations (DCE) allow designers to predict the dynamic performance of a robotic system for a particular configuration and reference point on the end-effector (i.e.,point design). Here the DCE are used in conjunction with a(More)
An energy-based approach to analysis of the impact problem in three dimensional multi-legged robot locomotion is hereby presented. The goal is to combine rigid and deformable body approaches, which come together naturally in a work-energy framework. The rigid body approach is used to calculate the energy restituted after a foot impacts on the ground, and(More)