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Cable-suspended robots are structurally similar to parallel actuated robots but with the fundamental difference that cables can only pull the end-effector but not push it. From a scientific point of view, this feature makes feedback control of cable-suspended robots more challenging than their counterpart parallel-actuated robots. In the case with redundant(More)
Rehabilitation robots are, currently, being explored for training of neural impaired subjects or for assistance of those with weak limbs. Intensive training of neurally impaired subjects, with quantifiable outcomes, is the eventual goal of these robot exoskeletons. Conventional arm exoskeletons for rehabilitation are bulky and heavy. In recent years, the(More)
In this paper, the energetics of a flapping wing micro air vehicle is analyzed with the objective of design of flapping wing air vehicles. The salient features of this study are: (i) design of an energy storage mechanism in the air vehicle similar to an insect thorax which stores part of the kinetic energy of the wing as elastic potential energy in the(More)
This paper provides a practical framework for planning and control of formations of multiple unmanned ground vehicles to traverse between goal points in a dynamic environment. This framework allows on-line planning of the formation paths using search algorithm based on the current sensor data. The formation is allowed to dynamically change in order to avoid(More)
Self-generated mobility via locomotion is a key for the cognitive, social and motor development of young infants. For certain children with special needs, self-generated mobility is only attained via assistive technology such as a power wheelchair. Up until recently, infants under 24 months of age were not considered candidates for training in power(More)
In this paper, the dynamic model of a wheeled inverted pendulum (e.g., Segway, Quasimoro, and Joe) is analyzed from a controllability and feedback linearizability point of view. First, a dynamic model of this underactuated system is derived with respect to the wheel motor torques as inputs while taking the nonholonomic no-slip constraints into(More)
In this paper, we address the design of an autopilot for autonomous landing of a helicopter on a rocking ship, due to rough sea. A tether is used for landing and securing a helicopter to the deck of the ship in rough weather. A detailed nonlinear dynamic model for the helicopter is used. This model is underactuated, where the rotational motion couples into(More)
In this paper, we present the dynamics, control, and preliminary experiments on a wearable upper arm exoskeleton intended for human users with four degrees-of-freedom (dof), driven by six cables. The control of this cable-driven exoskeleton is complicated because the cables can transmit forces to the arm only under tension. The standard PD controllers or(More)