The performance of screw-drive in-pipe inspection robots is significantly influenced by factors such as wheel tilting angle, coefficient of friction, and spring constant. A comprehensive understanding of these parameters is critical for the effective design, optimization, and control of the robot, particularly to enhan …
This paper presents the design procedure of a biomechanical leg, with a passive toe joint, which is capable of mimicking the human walking. This leg has to provide the major features of human gait in the motion trajectories of the hip, knee, ankle, and toe joints. Focus was given to the approach of designing the passiv …
In this paper, a method of optimizing the rolling amplitude needed for a stable and smooth walking movement of a humanoid robot is considered. The optimization algorithm was based on minimizing a cost function defined by the rolling overshoot. The amplitude of the rolling during locomotion was calculated using the late …
A nonlinear friction is an unavoidable phenomenon frequently experienced in mechanical system between two contact surfaces. An adaptive compensator is designed to achieve tracking of a desired velocity trajectory in the presence of friction force described by a single state elastoplastic friction model. The adaptive co …