4 accepted papers
The problem of juggling a pinned beam using intermittent impulsive forces, applied by a general-purpose robot, is addressed. The beam is juggled between two angular configurations by synchronizing the trajectory of the robot with the motion of the beam using virtual holonomic constraints (VHCs); the
The problem of designing and stabilizing impact-free gaits is considered for point-foot planar bipeds. A set of geometric constraints, which eliminate impact forces at the time of leg interchange, are used to design the gaits. A family of gaits, where the stride length and walking speed can be chose
The dynamics of the inertia-wheel pendulum, when subjected to impulsive inputs, can be described by algebraic equations. Optimal sequences of these inputs, that minimize their infinity norm, are designed for rest-to-rest maneuvers. The results are applied to the well-studied swing-up problem, and hi
Children with severe motor impairments require the use of assistive devices to perform activities of daily living. Brain-machine interfaces are not suited for children due to various factors such as surgical risks. In this paper, we present a non-invasive body-machine interface where upper body move…