...Kyoungchul Kong; Helge C. Kniep; Masayoshi Tomizuka Input saturation is a well-known nonlinearity in mechanical control systems; it constrains the maximum acceleration, which results in the limitation of the system response time. Input saturation has been considered in controller design in various...

...Panagiotis Vartholomeos; Evangelos Papadopoulos This paper presents the analysis, design, and simulation of a novel microrobotic platform that is able to perform translational and rotational sliding with submicrometer positioning accuracy and develop velocities up to 1.5 mm ∕ s . The platform...

... models for each of the two methods are developed, and the optimized design parameters for each of the two propulsion modes are demonstrated. To validate the theoretical result for the prokaryotic flagellar motion, a scaled-up prototype of the robot is fabricated and tested in silicone oil, using...

... with the Berkeley lower extremity exoskeleton were tackled during the course of this project. These four core technologies include the design of the exoskeleton architecture, control schemes, a body local area network to host the control algorithm, and a series of on-board power units to power the actuators...

... in this paper to solve this dilemma and the design process is illustrated in an example. First, a simple yet reasonably accurate yaw∕roll model is identified. A Neural Network (NN) is then developed to mitigate the accuracy problem of this simple model. The NN takes the TTR generated by the simple model...

...Erwin Schrijver; Johannes van Dijk Mechanical (direct-drive) systems designed for high-speed and high-accuracy applications require control systems that eliminate the influence of disturbances like cogging forces and friction. One way to achieve additional disturbance rejection is to extend...