Latest Papers

ASME Journal of Mechanisms and Robotics

  • Stable Inverse Dynamics for Feedforward Control of Nonminimum-Phase Underactuated Systems
    on January 25, 2023 at 12:00 am

    AbstractAn enhanced inverse dynamics approach is here presented for feedforward control of underactuated multibody systems, such as mechanisms or robots where the number of independent actuators is smaller than the number of degrees of freedom. The method exploits the concept of partitioning the independent coordinates into actuated and unactuated ones (through a QR-decomposition) and of linearly combined output, to obtain the internal dynamics of the nonminimum-phase system and then to stabilize it through proper output redefinition. Then, the exact algebraic model of the actuated sub-system is inverted, leading to the desired control forces with just minor approximations and no need for pre-actuation. The effectiveness of the proposed approach is assessed by three numerical test cases, by comparing it with some meaningful benchmarks taken from the literature. Finally, experimental verification through an underactuated robotic arm with two degrees of freedom is performed.

A Review of Bat-Inspired Shape Morphing Robotic Design


By virtue of distinguished wing shape morphing characteristics, the unrivaled agility and flight maneuverability of bats have inspired scientists and engineers to develop novel forms of robots that can fly like bats. The unique wing conformations, flight kinematics, and aerodynamics offer significant advantages over the conventional form of miniature air vehicle in terms of quiet, safe operations, improved efficiency, and enhanced maneuverability. Meanwhile, they also pose substantial challenges for robot design from multiple perspectives, including mechanical design, sensing, control, etc. The practical benefits and technical bottleneck have motivated the development of bat-inspired robots in recent years. The purpose of this paper is to summarize the designing principles and report current state-of-the-art of bat-inspired robot designs, emphasizing the respective distinguishing features of each paradigm, along with the room for further improvement. Rather than showcasing advancement in wing materials, we will focus on the mechanical design and control methodology. This paper will help researchers new in this realm to get familiar with the bat-inspired robots by adopting features from existing designs. It also concludes technical challenges associated with future development, involving biological research, aerodynamic modeling, mechanical design, and control technique.

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